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黃瓜采摘機(jī)械臂結(jié)構(gòu)優(yōu)化與運(yùn)動(dòng)分析
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Optimization Design and Kinematic Analysis of Cucumber-harvesting-robot Manipulator
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    摘要:

    黃瓜采摘機(jī)器人在非結(jié)構(gòu)環(huán)境中工作時(shí),,其機(jī)械臂的結(jié)構(gòu)特點(diǎn)與運(yùn)動(dòng)精度將直接決定機(jī)器人作業(yè)范圍和采摘成功率。針對(duì)黃瓜特定的栽培模式,,結(jié)合機(jī)械臂工作空間及結(jié)構(gòu)長(zhǎng)度指標(biāo),運(yùn)用參數(shù)優(yōu)化法,,對(duì)采摘機(jī)械臂構(gòu)型和結(jié)構(gòu)參數(shù)進(jìn)行了優(yōu)化設(shè)計(jì)。建立了機(jī)械臂運(yùn)動(dòng)D-H模型,,實(shí)現(xiàn)由關(guān)節(jié)空間向笛卡爾空間的正逆變換,,并確定了機(jī)械臂速度雅可比矩陣;應(yīng)用三次多項(xiàng)式插值法,,建立了機(jī)械臂關(guān)節(jié)空間運(yùn)動(dòng)規(guī)劃模型,;應(yīng)用Matlab平臺(tái)對(duì)優(yōu)化參數(shù)進(jìn)行仿真。結(jié)果表明,,機(jī)械臂實(shí)際采摘范圍可達(dá)到目標(biāo)工作區(qū)域90.5%以上,關(guān)節(jié)位移變化曲線(xiàn)光滑,,運(yùn)動(dòng)平穩(wěn),。

    Abstract:

    As the cucumber harvesting robot works in the non-structure condition, the structure and movement of the manipulator directly determines operating space and picking success. According to the specific cucumber cultivation, the manipulator was designed and its structure parameters were optimized based on the method of the parameters optimization. With the D-H kinematic model, the coordinate transformation was achieved between the Articulation and the Cartesian space, and the Jacobian matrix of velocity was derived. Besides, the model was built in the Articulation space for planning path by means of cubic polynomial interpolation. All the parameters optimized was simulated with Matlab, and the simulation results showed that the harvesting manipulator could reach the positions of 90.5% of the cucumbers in the workspace, moreover, it could move smoothly. 

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馮青春,紀(jì)超,張俊雄,李偉.黃瓜采摘機(jī)械臂結(jié)構(gòu)優(yōu)化與運(yùn)動(dòng)分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2010,41(Z1):244-248.Optimization Design and Kinematic Analysis of Cucumber-harvesting-robot Manipulator[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(Z1):244-248.

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