| 一种全方位移动机械手的可操作度分析 |
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| 引用本文： | 李新春,赵冬斌,易建强. 一种全方位移动机械手的可操作度分析[J]. 中国机械工程, 2006, 17(14): 1442-1447 |
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| 作者姓名： | 李新春 赵冬斌 易建强 |
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| 作者单位： | 中国科学院自动化研究所,北京,100080 |
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| 基金项目： | 国家自然科学基金;科技部国际科技合作项目 |
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| 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。
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| 关 键 词： | 移动机械手 全方位移动机械手 奇异位姿 可操作度 |
| 文章编号： | 1004-132X（2006）14-1442-06 |
| 收稿时间： | 2005-05-11 |
| 修稿时间： | 2005-05-11 |
Manipulability Analysis for Omnidirectional Mobile Manipulators |
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| Li Xinchun,Zhao Dongbin,Yi Jianqiang. Manipulability Analysis for Omnidirectional Mobile Manipulators[J]. China Mechanical Engineering, 2006, 17(14): 1442-1447 |
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| Authors: | Li Xinchun Zhao Dongbin Yi Jianqiang |
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| Affiliation: | Institute of Automation,Chinese Academy of Sciences, Beijing, 100080 |
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| Abstract: | 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. |
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| Keywords: | mobile manipulator omnidirectional mobile manipulator singular configuration manipulability |
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