【摘要】 为实现在复杂环境下对处于不同位姿伤员的精准施救及稳定转运，文中提出了一种3-SRR腿履式调姿救援机器人机构，并进行运动学分析、机构优化设计及试验研究。首先，基于闭环矢量法对其进行运动学分析，得到救援机器人运动学反解；然后，基于迭代搜索算法，得到其救援作业空间与姿态空间，并基于单一变量法分析救援机器人机构尺寸参数对救援作业空间的影响；然后，以救援作业空间最大、姿态能力最强为优化目标函数，基于差分进化算法对机构尺寸参数进行优化；最后，研制原理样机并进行调姿能力试验，试验结果证明了方案的可行性与理论分析的正确性，为灾难救援提供一种可行的解决方案。更多还原

【Abstract】 In this article, in order to realize the precise rescue and stable transfer of the wounded in different postures in the complex environment, efforts are made to propose a 3-SRR leg-crawler posture-adjusted rescue robot; then, it is subject to the kinematics analysis, optimization design, and experimental study. Firstly, based on the closed-loop vector method, the kinematics analysis is conducted on the rescue robot, and its inverse kinematics solution is obtained. Secondly, with the help of the iterative search algorithm, both the rescue workspace and the posture space are obtained; the influence of the size parameters on the rescue workspace is explored by means of the single variable method. Next, with the maximum rescue operation workspace and the strongest posture-adjusted ability as the objective function, the size parameters are optimized according to the differential evolution algorithm. Finally, a prototype is developed, and its posture-adjusted ability is subject to some experiments. The experimental results show that this scheme is feasible and the theoretical analysis is correct, thus providing reasonable solutions for disaster rescue.更多还原