摘要
为提高苹果采摘效率,实现无损化、高效化采摘。设计出一种基于负压式末端执行器的六自由度采摘机器人,并对基于负压式设计的末端结构进行验证。后基于SD-H参数法对机器人进行正逆运动学求解,运用ADAMS仿真软件对采摘机械臂进行运动学和动力学仿真分析。对末端吸口中心点和各关节点进行监控获取末端吸口位移、速度、加速度与各关节力矩曲线。分析曲线表明:机械臂运动过程平稳无突变,采摘苹果产生冲击力对机械臂各关节影响较小,机械结构设计合理,可满足采摘工作需求,并对后续路径规划提供基础依据。
In order to improve the efficiency of apple picking and realize nondestructive and efficient picking.In this paper,a 6-DOF picking robot based on negative pressure end effector is designed,and the end structure based on negative pressure design is verified.After that,the forward and inverse kinematics of the robot are solved based on SD-H parameter method,and the kinematics and dynamics of the picking manipulator are simulated and analyzed by ADAMS simulation software.Monitor the center point and joint points of the end suction port to obtain the displacement,speed,acceleration and joint moment curves of the end suction port.The analysis curve shows that the motion process of the robot arm is stable and there is no sudden change,and the impact force generated by picking apples has little influence on each joint of the robot arm,and the mechanical structure design is reasonable,which can meet the demand of picking work and provide a basic basis for subsequent path planning.
作者
张静
韩东亚
宋洋
卞革
ZHANG Jing;HAN Dong-ya;SONG Yang;BIAN Ge(Colleage of Energy and Power Engineering,Lanzhou University of Technology,Lanzhou 730050,China)
出处
《液压气动与密封》
2024年第1期39-46,共8页
Hydraulics Pneumatics & Seals
基金
国家自然科学基金(52165006)。
