一种全方位移动机械手的可操作度分析  

Manipulability Analysis for Omnidirectional Mobile Manipulators

作　　者：李新春[1] 赵冬斌 易建强[1] 

机构地区：[1]中国科学院自动化研究所,北京100080

出　　处：《中国机械工程》2006年第14期1442-1447,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(60475030);科技部国际合作重点项目(2004DFB02100)

摘　　要：将机械手可操作度的概念推广到移动机械手,定义了广义可操作度。建立了基于全方位移动平台的移动机械手的广义运动学模型。在广义可操作度概念的基础上,分析了全方位移动平台对机械手奇异位姿、可操作度及方向可操作度的影响,并与受非完整约束的差分移动平台对机械手的相应影响进行了比较。A generalized manipulability, which extended the conventional definition of manipulability for manipulators, was defined for mobile manipulators. The kinematics of the mobile manipulator, which consisted of an omnidirectional mobile platform and a holonomic manipulator mounted atop the platform, was set up. The effects resulted from the omnidirectional mobile platform on the singular configuration, manipulability and directional manipulability of the manipulator were analyzed profoundly, and the results were compared with that of the wheeled mobile manipulator which was subjected to nonholonomic constraint.

关 键 词：移动机械手 全方位移动机械手 奇异位姿 可操作度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]