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

    黃瓜采摘機器人在非結(jié)構(gòu)環(huán)境中工作時，其機械臂的結(jié)構(gòu)特點與運動精度將直接決定機器人作業(yè)范圍和采摘成功率。針對黃瓜特定的栽培模式,，結(jié)合機械臂工作空間及結(jié)構(gòu)長度指標，運用參數(shù)優(yōu)化法,，對采摘機械臂構(gòu)型和結(jié)構(gòu)參數(shù)進行了優(yōu)化設(shè)計。建立了機械臂運動D-H模型,，實現(xiàn)由關(guān)節(jié)空間向笛卡爾空間的正逆變換,，并確定了機械臂速度雅可比矩陣；應(yīng)用三次多項式插值法,，建立了機械臂關(guān)節(jié)空間運動規(guī)劃模型,；應(yīng)用Matlab平臺對優(yōu)化參數(shù)進行仿真。結(jié)果表明,，機械臂實際采摘范圍可達到目標工作區(qū)域90.5%以上,，關(guān)節(jié)位移變化曲線光滑，運動平穩(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,紀超,張俊雄,李偉.黃瓜采摘機械臂結(jié)構(gòu)優(yōu)化與運動分析[J].農(nóng)業(yè)機械學(xué)報,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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