移动机械手运动学模型及其操作度  

Mobile manipulator kinematics model and manipulability measure

作　　者：李娜[1] 赵新华[1] 

机构地区：[1]天津理工大学机械工程学院,天津300191

出　　处：《天津理工大学学报》2006年第6期39-43,共5页Journal of Tianjin University of Technology

基　　金：天津市高等学校科技发展基金(2004BA06)

摘　　要：对3自由度移动平台以及固定在其上的4自由度机械手组成的差动驱动式移动机械手进行了运动学分析,得出基于雅克比矩阵的统一运动学微分方程,最后对移动机械手及移动平台的可操作性进行了分析,得出了当机械手处于某种构形的时候,移动平台的运动对机械手的操作性无贡献.This paper analyses the kinematics of a mobile manipulator consisting of a 4-DOF manipulator arm mounted on the 3-DOF mobile platform. The platform has two driving wheels driven by two DC motors. According to the analysis, the united differential kinematics model is achieved. In the end, the manipulability measures of the mobile manipulator and mobile platform are discussed, and one conclusion that the motion of mobile manipulator has no effect on manipulability measure of the manipulator arm in certain configuration is drawn.

关 键 词：移动机械手 运动学模型 操作度 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]