System-Level Performance Metrics Sensitivity of an Electrified Heavy-Duty Mobile Manipulator
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arXiv
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| Format: | Preprint |
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2024
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| author | Bahari, Mohammad Paz, Alvaro Mattila, Jouni |
| author_facet | Bahari, Mohammad Paz, Alvaro Mattila, Jouni |
| contents | The shift to electric and hybrid powertrains in vehicular systems has propelled advancements in mobile robotics and autonomous vehicles. This paper examines the sensitivity of key performance metrics in a electrified heavy-duty mobile manipulator (HDMM) driven by electromechanical linear actuators (EMLAs) powered by permanent magnet synchronous motors (PMSMs). The study evaluates power delivery, force dynamics, energy consumption, and overall efficiency of the actuation mechanisms. By computing partial derivatives (PD) with respect to the payload mass at the tool center point (TCP), it provides insights into these factors under various loading conditions. This research aids in the appropriate choice or design of EMLAs for HDMM electrification, addressing actuation mechanism selection challenge in vehicular system with mounted manipulator and determines the necessary battery capacity requirements. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_16186 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | System-Level Performance Metrics Sensitivity of an Electrified Heavy-Duty Mobile Manipulator Bahari, Mohammad Paz, Alvaro Mattila, Jouni Systems and Control The shift to electric and hybrid powertrains in vehicular systems has propelled advancements in mobile robotics and autonomous vehicles. This paper examines the sensitivity of key performance metrics in a electrified heavy-duty mobile manipulator (HDMM) driven by electromechanical linear actuators (EMLAs) powered by permanent magnet synchronous motors (PMSMs). The study evaluates power delivery, force dynamics, energy consumption, and overall efficiency of the actuation mechanisms. By computing partial derivatives (PD) with respect to the payload mass at the tool center point (TCP), it provides insights into these factors under various loading conditions. This research aids in the appropriate choice or design of EMLAs for HDMM electrification, addressing actuation mechanism selection challenge in vehicular system with mounted manipulator and determines the necessary battery capacity requirements. |
| title | System-Level Performance Metrics Sensitivity of an Electrified Heavy-Duty Mobile Manipulator |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2409.16186 |