ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

In order to settle the security issue in the process of artificial pine cone picking, a hitting pine cone picking robot was designed, which mainly included motor drive module, control module, vision module, clamping module and picking module. The system performed the pine cone identification and location through the vision module, transmitted the result back to the control module, and then controlled the motor drive module to cooperate with the clamping module and the picking module to complete the pine cone picking. Based on the kinematics model, the diameter of the working space of mechanical arm was calculated by Matlab software to be 4.5m. A collision dynamics model based on Lagrange equation and pulse principle was used to solve the torque required to maintain the original law of motion during the collision. The optimized mechanical safety factor was at least 1.5771 and the total deformation was 4.1484mm by the ANSYS Workbench software. Simulation results showed that the structure can satisfy the design requirements in terms of kinematics, dynamics and statics. The pine cone picking test was 〖JP3〗performed in the laboratory environment, and the size of the constructed prototype was 1000mm×1200mm×1100mm. The experimental results verified the rationality and practicability of the structure design of the robot, and its design and analysis provided guidance and theoretical basis for the development of the pine cone picking robot in the future.