Enhancing Tip-Over Stability of Mobile Robots via Active Mass Redistribution Strategy

To enhance the anti-tip-over capability during mobile robot operations, this study proposes an active mass redistribution strategy based on a two-degree-of-freedom counterweight mechanism. The approach involves: (1) Establishing a six-axis manipulator dynamics model using Denavit-Hartenberg (HR) and Newton-Euler methods to calculate dynamic loads on the mo-bile platform; (2) Building a tip-over stability model that minimizes the quadratic sum of moments on the tip-over axis through dynamic counterweight position optimization. MATLAB simulations demonstrate: Under material handling conditions, the tip-over probabilities are 46.19% (no counterweight), 16.93% (passive mass addition), and 0.12% (active mass redistribution system). Through 10⁴ random path validations, the active mass redistribution system reduces tip-over risk by 99.7%, signif-icantly surpassing pure weight-increasing solutions. The results prove that this adaptive device effectively improves mobile platform stability.