特殊任务便携式机器人机械手构型选择

Q4 Engineering

Journal of Automation, Mobile Robotics and Intelligent Systems Pub Date : 2022-03-01 DOI:10.14313/jamris/1-2022/3

Tomasz Krakówka, A. Typiak, M. Cader

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引用次数: 1

摘要

摘要提出了一种特殊用途便携式机器人机械手的构型选择方法。以便携式PIAP巡逻机器人为例，分析了机械手的任务和相关功能要求。从机器人任务集中，选择对机械手参数影响最大的任务。采用运动准则和静态准则作为目标函数的依据。利用多准则优化工具，选择了机械手的构型参数。选定的工作能力得到最大化，同时确保满足质量和运动学限制的要求。介绍了模拟试验的结果，并概述了进一步工作的范围。

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Selection of Manipulator Configuration for a Portable Robot for Special Tasks

Abstract This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related requirements for the functionality of the manipulator was presented on the example of the portable PIAP Patrol robot. From the set of robot tasks, the tasks that had the greatest impact on the manipulator parameters were selected. Both kinematic and static criteria were used as the basis for adopting the objective function. With the use of multi-criteria optimization tools, the manipulator configuration parameters were selected. Selected working capacities were maximized while ensuring that the imposed requirements for mass and kinematic limitations were met. The results of simulation tests were presented, and the scope of further work has been outlined.

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来源期刊

Journal of Automation, Mobile Robotics and Intelligent Systems Engineering-Control and Systems Engineering

CiteScore

1.10

自引率

0.00%

发文量

期刊介绍： Fundamentals of automation and robotics Applied automatics Mobile robots control Distributed systems Navigation Mechatronics systems in robotics Sensors and actuators Data transmission Biomechatronics Mobile computing