p 3 p 4 p 5 p 6 p 7 p 8 p 9 p 10 p 11 θ 1 θ 2 θ 3 θ 4 θ 5 θ 6 θ 7 θ 8 θ 9 θ d 1 = 0 X c 0 p 1 p 2 X c 0 d pi p j p i p j 0 δ 90

22 4 2017 8 Vol. 22 No. 4 JOURNAL OF HARBIN UNIVERSITY OF SCIENCE AND TECHNOLOGY Aug. 2017 1 1 1 1 2 2 2 1. 150080 2. 150080,,,, ; ; ; DOI: 10. 15938 /j. jhust. 2017. 04. 001 TP273 A 1007-2683 2017 04-0001- 06 Simulation Cockpit Layout Design of Wheel-legged Mobile Platform Combined with Ergonomics XU Jia-zhong 1 WANG Yan 1 YOU Bo 1 LI Jia-yu 1 DING Liang 2 GAO Hai-bo 2 JIN Ma 2 1. School of AutomationHarbin University of Science and TechnologyHarbin 150080China 2. School of Mechanical and Electrical EngineeringHarbin Institute of TechnologyHarbin 150080China Abstract Wheel-legged mobile platform is designed for the case that wheeled vehicles cannot traverse a special environment. It is needed that the vehicle can quickly go through not only the normal environmentbut also the rugged environmentwhich requires the cockpit of wheel-legged mobile platform have both the wheeled vehicles manipulator and the legged robot manipulator. Thereforehigh demands are made for layout design of cockpit that combining the wheel operation and the foot operation. The simulating cockpit of wheel-legged mobile platform which is based on the ergonomics of the anthropometric data and relevant theory is studied and designedand the spatial layout of cockpit is optimized for a variety of manipulators. The wheel-legged mobile platform is highly securedcomforting and efficient when manipulating. Keywords legged robot cockpit ergonomics anthropometry 2016-03 - 15 51275106 51575120. 1977 1990. 1980 E-mail liangding@ hit. edu. cn.

2 22 0 1-2 4 1 p 3 p 4 p 5 p 6 p 7 p 8 p 9 p 10 p 11 θ 1 θ 2 θ 3 θ 4 θ 5 θ 6 θ 7 θ 8 θ 9 θ 10 3 1 d 1 = 0 X c 0 p 1 p 2 X c 0 d pi p j p i p j 0 δ 90 4 P a = θ 1 t =90 θ 9 t =90 θ 2 t =90 1 θ 10 t =90 θ 3 t =90 p i i = 1 2 3 11 P b = θ 1 t =90 θ 9 t =90 θ 2 t =90 p i θ 10 t =90 0 θ 3 t < 90 - δ θ i t t = 1 2 3 10 d 1 t p i θ i P c = 90 < θ 7 t 180 - δ 30 < θ 5 t 90 d 1 90 < θ 6 t 180 - δ 30 < θ 4 t 90 1 V H Y 0 θ 3 t < 90 - δ X p 1 p 2

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6 22 2011 3-32. 2 J. 2010 32-7. 3 M 2007 83-12. 6 2013. S 1988. 8 10 2007 11. 11 2011. 12 M 2003 3-25. 2013 14-16. 1. M.... 4. D. 5GB10000-88.. 6SAE-J287 Driver Hand Control ReachS. 2007 3-28. 7AE-J1050 Describing and Measuring the Driver' s Field of View S. 2003 19-23. 8. J. 201223 331-34. 9SAE-J1100 Motor Vehicle DimensionsS. 2009 71-227.. D.. M D... 13. D. 14SCOTT J JGRAY R. A Comparison of TactileVisualand Auditory Warnings for Rear-end Collision Prevention in Simulated Driving J. Hum. Factors200850 2264-275. ( : )