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Table 1 Engagement of individual actuators against subtasks

From: A two-wheeled machine with a handling mechanism in two different directions

Ser. Subtask DOFs associated Right wheel motor
\( \tau_{R} \)
Left wheel motor
\( \tau_{L} \)
Linear actuator I
\( F_{1} \)
Linear actuator II
\( F_{2} \)
a Moving till the picking place \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \) × ×
b Extension of the IB \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{1} }} \) ×
c Extension of the end-effector \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{2} }} \) ×
d Reverse motion of the end-effector \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{2} }} \) ×
e Contraction of the IB \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{1} }} \) ×
f Placing of the object \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{2} }} \) × ×