一种六足铲斗机器人腿部机构工作空间设计

摘要

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.%首先，介绍了一种六足铲斗机器人，其腿部采用一种3自由度RPR＋R（2RPR＋ FD）串并混联机构。其次，建立了该腿部机构的位置反解，基于极坐标边界搜索方法绘制了其足端工作空间三维图，分析了腿部机构几何参数对工作空间高度和长度的影响规律。最后，考虑到该机器人的越障能力、行走速度以及铲斗作业时的位姿变化要求，设计了腿部机构工作空间。该机器人在受灾场合中进行障碍清除、物资搬运以及对易燃易爆物隔离等方面有很好的应用前景。