燕山大学学报2016，Vol.40Issue(1)：45-50,6.DOI:10.3969/j.issn.1007-791X.2016.01.008
一种六足铲斗机器人腿部机构工作空间设计
Workspace design of a kind of hexapod bucket robot′s leg mechanism
摘要
Abstract
First of all a kind of hexapod bucket robot is introduced and a novel RPR+R 2RPR+FD type 3⁃DOF series and parallel mechanism is used as its leg.Secondly the inverse position equation of the leg mechanism is established and the workspace of the foot end is constructed using a polar boundary search method the influences disciplinary of the leg mechanism geometrical parameters on the length and the height distribution of the workspace are analyzed. Considering the obstacle ability the walking speed and the bucket changing pose the workspace of the leg mechanism is constructed.The robot manipulator has a great prospect in these disaster situations such as the clearance of obstacles the handling of material and the isolation of flammable or explosive materials etc.关键词
六足铲斗机器人/串并混联机构/位置反解/几何参数/工作空间Key words
hexapod bucket robot/series and parallel mechanism/positional inverse/geometric parameter/workspace分类
信息技术与安全科学引用本文复制引用
金振林,邢燕兵..一种六足铲斗机器人腿部机构工作空间设计[J].燕山大学学报,2016,40(1):45-50,6.基金项目
机械系统与振动国家重点实验室课题资助项目（ MSV-2015-06）；燕山大学研究生创新资助项目 （）
