| The Configuration Optimization for Multilimbed Robots with the Viewpoint of Maximum Loading Capacity |
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| 作者姓名： | Shen JieBeijing Institute of Electromechanic Equipment P. O. Box Beijing China |
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| 作者单位： | Shen JieBeijing Institute of Electromechanic Equipment，P. O. Box 3926，Beijing 100854，China |
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| 摘 要： | This paper presents a method for optimizing the configuration of a multilimbed robot (the robot with both arms and legs) which works with a big load. A least-effort criterion is proposed as the base of optimization. When the applying Cartesian force and the task point are given, the best configuration of the robot will be easily found through a series of imaginary motions of the robot and some simple computations. The imaginary motion varies with the working environment related to the construction of the robot, the task point and the force direction. The working environment could be predicted by the proposed inequalities, so that the way of motion could be decided in advance.
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The Configuration Optimization for Multilimbed Robots with the Viewpoint of Maximum Loading Capacity |
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| Shen JieBeijing Institute of Electromechanic Equipment,P. O. Box ,Beijing ,China.The Configuration Optimization for Multilimbed Robots with the Viewpoint of Maximum Loading Capacity[J].Journal of Systems Engineering and Electronics,1991(1). |
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| Authors: | Shen JieBeijing Institute of Electromechanic Equipment P O Box Beijing China |
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| Institution: | Shen JieBeijing Institute of Electromechanic Equipment,P. O. Box 3926,Beijing 100854,China |
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| Abstract: | This paper presents a method for optimizing the configuration of a multilimbed robot (the robot with both arms and legs) which works with a big load. A least-effort criterion is proposed as the base of optimization. When the applying Cartesian force and the task point are given, the best configuration of the robot will be easily found through a series of imaginary motions of the robot and some simple computations. The imaginary motion varies with the working environment related to the construction of the robot, the task point and the force direction. The working environment could be predicted by the proposed inequalities, so that the way of motion could be decided in advance. |
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| Keywords: | Robot configuration Multilimbed robot Least-effort criterion Optimization |
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