关键词: 并串联机构, 高冗余自由度, 回避障碍, 机构简化, 运动可靠性 空间机械臂 多层映射模型 灵敏度 响应面法

Abstract: The algorithm of obstacle avoidance for a multi-DOFs series-parallel manipulator to enter a hole is studied, and the motion simulation is realized. Using priority order theory and rotation tensor method, We realize the obstacle avoidance planning for the multi-DOFs manipulator of which the lengthes of the bars are variable with time. The motion simulation of obstacle avoidance of entering a hole is finished on CAD-station and obtains satisfied results.

Key words: Multi-DOFs mechanism simplification of mechanism, Obstacle avoidance, Series-parallel manipulator