A numerical analysis is carried out in this paper to determine an optimal location for mounting the base of a serial manipulator on a six-legged mobile platform, also known as legged mobile manipulator (LMM), in terms of its workspace, manipulability of the manipulator and foot forces’ distribution among the legs. In LMM, the multi-legged platform provides mobility, whereas manipulation is achieved by the robotic arm. The position of the manipulator on the mobile hexapod platform is very important in integrating this system, as it has a major impact on the performance of an LMM. For numerical analysis, the quantitative measure of each parameter is required. Thus, initially, the workspace of the LMM considering self-collision is quantified by generating a reachability map of the robotic system. Then, the stance-constrained Reach Jacobian of the combined robotic system is derived for the purpose of manipulability measure. Next, foot force-based stability margin is used to measure the foot forces’ distribution among the legs. All the abovementioned parameters are calculated at different pre-selected manipulator’s base locations on the hexapod platform. Finally, a numerical analysis combining these three parameters is carried out to find an optimal mounting location of the manipulator on the hexapod platform.

本文进行了数值分析，以确定将串行机械手的底座安装在六足移动平台（也称为有腿移动机械手（LMM））上的最佳位置，就其工作空间，机械手的可操作性而言和脚力在双腿之间的分布。在LMM中，多腿平台提供了机动性，而操纵则由机械臂实现。机械手在可移动六脚架平台上的位置对于集成此系统非常重要，因为它对LMM的性能有重大影响。对于数值分析，需要对每个参数进行定量测量。因此，首先，通过生成机器人系统的可达性图来量化考虑自碰撞的LMM的工作空间。然后，出于操纵性的目的，推导了组合机器人系统的受姿态约束的“到达雅可比”式。接下来，基于脚力的稳定性裕度用于测量脚力在腿之间的分布。所有上述参数都是在六脚架平台上不同的预选操纵器基础位置上计算的。最后，结合这三个参数进行了数值分析，以找到机械手在六脚架平台上的最佳安装位置。