【摘要】 移动机械臂克服了传统固定安装的机械臂工作范围有限等问题，兼具灵活性和可操作性，已广泛应用在建筑领域。针对移动机械臂在建筑装配施工过程中作业站位难以确定的问题，提出了一种新的站位规划方法，可快速生成可行站位，同时有效减少站位数量。首先通过运动学建模和工作空间分析，基于网格划分和作业工艺得到了移动机械臂的初始可行站位区域；然后考虑建筑环境的定位不确定因素，对可行站位区域求解交集以得到优选站位区域；最后以所有站位为输入建立最小覆盖集合模型，通过优化算法最小化站位数量。仿真实验结果表明，与人工规划相比，站位规划时间和数量均大大减少，验证了该算法的可行性和有效性。更多还原

【Abstract】 Mobile manipulators overcomes the problems such as limited working range of traditional fixed-mounted manipulators,which is both flexible and operable,and has been widely used in construction scenarios.To address the problem of difficult to determine the base position(BP) of mobile manipulators in the process of building assembly,this paper proposes a new BP planning method,which can quickly generate feasible BPs and effectively reduce the number of BPs at the same time.Firstly,the initial feasible BPs area of the mobile manipulators is obtained through kinematic modeling and workspace analysis based on the grid division and operation process,then the intersection of the feasible BPs area is solved to obtain the preferred BPs area by considering the positioning uncertainties of the building environment,and finally the minimum coverage set model is established with all BPs as input to minimize the number of BPs through the optimization algorithm.更多还原