System-Level Performance Metrics Sensitivity of an Electrified Heavy-Duty Mobile Manipulator

TL;DR

This paper analyzes how performance metrics of an electrified heavy-duty mobile manipulator are affected by payload variations, providing insights for better actuation design and energy planning in electric vehicle robotics.

Contribution

It introduces a sensitivity analysis method for performance metrics of electrified mobile manipulators, aiding in actuation selection and energy capacity planning.

Findings

Performance metrics vary significantly with payload changes.

The study offers a quantitative framework for actuation mechanism selection.

Insights into battery capacity requirements for electrified HDMMs.

Abstract

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.