仿象鼻并串联机构回避障碍“钻洞”的研究

研究了一种高冗余自由度并串联机构回避障碍的算法问题，并实现了运动仿真，核算法应用了优先顺位的理论，利用旋转张量法，对杆长随时间变化的高冗余自由度操作臂实现了变臂长的避障规划，并在ＣＡＤ工作站上完成了回避障碍钻洞的运动仿真，获得了满意的结果。国家自然科学基金

he algorithm of obstaele avoidance for a multi-DOFs series-parallel manipulatorto enter a hole is studied, andthe motion simulation is realized.Using priority order theoryand rotation tensor method, we realize the obstacle avoidance planning for the multi-DOFsmanipulator of which the lengthes of the bars are variable with time. Themotion simulati-on of obstacle avoidance of enterjng a hole is finished on CAD-station and obtains satisfiedresults.