Table 1 Variables and constants in the mechanical analysis

F _x

Affected force to the robot from the object in horizontal direction

F _y

Affected force to the robot from the object in vertical direction

N _out

Normal force from the floor to the outrigger

N _rob

Normal force from the floor to the robot

H

Height of the action point to the object

W

Width of the object

H_c

Height of the handcart

W_a

Distance in the horizontal direction between the action point to the object and center of gravity of the robot

W_o

Distance in the horizontal direction between center of gravity of the robot and contact point of the rod to the floor

m_obj

Mass of the object

m_rob

Mass of the robot

m_out

Mass of the outrigger

L

Length of the outrigger

H_r

Height of the contact point between the robot and the rod

µ_W

Coefficient of friction of the floor with the robot

µ_o

Coefficient of friction of the floor with the outrigger