吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (6): 1995-2002.doi: 10.13229/j.cnki.jdxbgxb201606032

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Base position planning of mobile manipulator for large parts painting

REN Shu-nan1, 2, 3, YANG Xiang-dong1, 2, 3, WANG Guo-lei1, 2, 3, LIU Zhi1, 2, 3, CHEN Ken1, 2, 3   

  1. 1.Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
    2.Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China;
    3.State Key Laboratory of Tribology,Tsinghua University,Beijing 100084, China
  • Received:2015-08-10 Online:2016-11-20 Published:2016-11-20

Abstract: Considering that the last three wrist joints of a manipulator are highly dexterous and hove no influence on the position of the writ center point when moving, a mathematical model of the manipulator is reconstructed with origin at the wrist center point. Thus, the base of the manipulator becomes the nominal end effector with fixed orientation. All possible locations of the new end effector can be viewed as the Base's Workable Location Space (BWLS). The BWLS moves along with the wrist center point during the painting task. Through analysis of the intersection set of the BWLSs, the feasible base position area of the manipulator is established. Motion simulations on painting plane and curved surfaces referred to the concept of BWLS are performed. The results show the optional base position area of the manipulator can be quickly obtained and the once stop painting area is extended compared to the fixed rules.

Key words: mechanical manufacturing and automation, base position planning, base's workable location space, mobile manipulator, painting robot, mobile platform

CLC Number: 

  • TP24
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