摘要
尺寸优化设计是机械手总体设计的关键步骤之一。介绍了一种能够获得合理果实收获机械手工作空间和结构轻量化的优化设计方法。基于番茄生物学特性和栽培模式,根据机械手几何工作空间,以工作空间主截面包络面最佳和结构轻量化为目标函数,以轨迹区域约束、杆件尺寸和关节角度限制为约束条件,建立了机械手机构尺寸优化设计模型,采用MATLAB软件进行仿真试验,并分析了机械手各杆件长度、关节角度与目标函数的关系,获得了机械手尺寸的最优解,为番茄收获机械手机构进一步分析奠定了基础。
Dimension optimal design is one of the most important processes in a manipulator general design. The optimal design method of mechanism dimension for fruit harvesting manipulators is introduced with the consideration of the rational picking workspace and structure in the paper. Based on tomato biology and cultivating modes, the optimization design of mechanism dimension for a tomato harvesting manipulator is modeled according to geometrical workspace, where the optimum main workspace envelope Surface and structure light-weight are taken as the objective functions, tracing region, links＇ sizes and joints＇ angle limits as constraint conditions. Optimum manipulator parameters are obtained by MATLAB simulation and analysis on relations between objective function and links＇ size and joints＇ angle, which lays a foundation＇for further analysis of the tomato harvesting manipulator.
出处
《机械设计与研究》
CSCD
北大核心
2008年第1期21-24,共4页
Machine Design And Research
基金
浙江省高校青年教师资助计划项目
中国计量学院自然科学基金项目(项目编号:XZ0525)
关键词
番茄收获机械手
机构尺寸
优化设计
tomato harvesting manipulator, mechanism dimensions, optimal design
