移动机械手布局设计的研究

Study on Layout Design for Mobile Manipulator

针对移动机械手布局设计问题,通过理论分析计算,并根据设计目标和要求,首先建立了约束条件及相关的组合原则,然后根据具体的算例总结出一些优化策略来指导移动机械手的布局设计问题。布局系统以AutoCAD为平台,利用VC++语言以ObjectARX为接口进行二次开发。根据用户的选择,自动实现移动机械手三维模型的建立和布局图形的生成,使之直观的展现在设计者面前。实验证明,该布局优化策略效率高,结论合理。

As to the problem of layout design for Mobile Manipulator, based on theoretical analysis and calculation, and the design goal and the requests, first of all, constraint condition is established and the correlation combination principle. Secondly, we can obtain a general rule, which can steer the layout of Mobile Manipulator. The layout system takes AutoCAD as the platform, carries on the re-development using the VC＋＋ language. According to the choice of user, realizes the manipulator 3-D model establishment and the layout graph production automatically, thus gives the designer the direct-viewing. The high efficiency of the layout optimization strategy and reasoned conclusions is verified by simulation results.