六腿式移动机械手基座安装位置的优化研究  

Optimization of base installation position of six-legged mobile manipulator

作　　者：张江锋 吴志光[1] Zhang Jiangfeng;Wu Zhiguang(Department of Electromechanical and Automobile,Chizhou Vocational and Technical College,Chizhou 247100,China)

机构地区：[1]池州职业技术学院机电与汽车系,安徽池州247100

出　　处：《湖南文理学院学报（自然科学版）》2022年第2期35-41,共7页Journal of Hunan University of Arts and Science(Science and Technology)

基　　金：安徽高校重点自然科学研究项目(KJ2018A0187);池州职业技术学院院级重点教学研究项目(2020jyxm06)。

摘　　要：机械手基座的位置会影响操作性和稳定性等性能,为了进一步提升六腿式移动机械手的性能,对其机械手基座安装位置的优化问题进行了研究。在六腿移动平台顶面上选择不同的机械手基座位置,考虑工作空间、可操作性和腿力稳定裕度3个性能参数的综合效应分析了机械手基座的最佳安装位置。结果表明:(1)在上述3个性能参数同等重要的情况下,最佳位置为(x_(m),y_(m))=(30 mm,100 mm);(2)有更好稳定性的最佳安装位置为(x_(m),y_(m))=(0 mm,100 mm)。The base position of the manipulator can affect the performance of operability and stability,and the optimization problem of the installation position of the manipulator is studied to further improve the performance of the six-legged mobile robot system.The different positions of the base on six-legged mobile platform are selected,and the optimum installation position of manipulator base is analyzed considering the comprehensive effect of three parameters(working space,operability,foot force-based stability margin).The results show that:(1)The optimal position is(x_(m),y_(m))=(30 mm,100 mm)when the above three parameters are equally important.(2)For having better stability,the best installation position is(x_(m),y_(m))=(0 mm,100 mm).The conclusions provide reference for the design of manipulator.

关 键 词：机械手 六腿移动平台 优化 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]