摘要
针对棉花分拣的具体情况,依据机器人的机构选型原则,对棉花分拣机器人进行了机构选型设计,提出了一种具有整体升降和小臂伸缩功能的五自由度串联关节型棉花分拣机械手.基于棉花的分布空间,利用几何法对机械手末端轨迹进行模拟,得出机械手工作空间主剖面的面积组成,由此确定了机器人机构参数的取值范围,并建立优化模型,得到了机器人机构参数的优化解.
According to the robot selection principles and the sorting requirement of cotton , the structure of cotton sorting robot was designed.A five degree of freedom series joint type manipulator with whole fluctuation function and forearm stretching function was proposed.Based on the distribution space of cotton pile , the main section of manipulator workspace was obtained by drawing manipulator end trajectory , and then the ranges of robot structure parameters were determined.At last , the optimized model was established and the optimal solution of the robot structure parameters was obtained.
出处
《东华大学学报（自然科学版）》
CAS
CSCD
北大核心
2012年第3期323-326,共4页
Journal of Donghua University(Natural Science)
基金
陕西省教育厅自然科学基金资助项目(09JK456)
关键词
机器人
工作空间
最优化
目标函数
约束条件
robot
workspace
optimization
objective function
constraint condition
