摘要
Reachability is a key criterion in maintenance design, and human arm is the main object in reachability analysis. The human arm＇s DOF is reduced, and applying military standards and human physiological constraints, the simplified arm model of 7-DOF using D-H method is built up. Particle Swarm Optimization （PSO） is used to acquire the shoulder, arm and hand posture with adaptive fitness function. A detailed reachability analysis is accomplished for disassembling the bolts from crank shaft is given as an example to validate the feasibility of using teachability analysis on maintenance design.
Reachability is a key criterion in maintenance design, and human arm is the main object in reachability analysis. The human arm＇s DOF is reduced, and applying military standards and human physiological constraints, the simplified arm model of 7-DOF using D-H method is built up. Particle Swarm Optimization （PSO） is used to acquire the shoulder, arm and hand posture with adaptive fitness function. A detailed reachability analysis is accomplished for disassembling the bolts from crank shaft is given as an example to validate the feasibility of using teachability analysis on maintenance design.
基金
Supported by National Natural Science Funds (50705096)
