摘要
针对现有的采摘机器人机械臂自由度受工作空间限制的问题,进行了四自由度升降式采摘机器人的设计。根据国内果树矮化密植的栽培模式,为使机械臂能高效灵活地获取目标空间果实,同时尽量减少机械臂的自由度与结构尺寸,设计了一种小型升降式采摘机器人。对采摘机器人样机进行了单关节位置控制误差试验,结果表明:升降机构位置误差平均值为3. 02mm,最大值为4. 55mm;腰关节位置误差平均值为1. 21mm,最大值为2. 14mm;肩关节位置误差平均值为1. 55mm,最大值为1. 36mm;肘关节位置误差平均值为1. 06mm,最大值为2. 33 mm;腕关节位置误差平均值为1. 11 mm,最大值为1. 97 mm,基本满足果园采摘作业的要求。
Aiming at the problem that the degree of freedom of the existing robot arm is limited by the working space,the design of the four degree of freedom lifting robot is carried out. In order to make the manipulator obtain the target space efficiently and flexibly,and minimize the freedom and structure size of the mechanical arm,a small lifting and lifting robot is designed according to the cultivation mode of dwarf and dense planting of fruit trees in China. The results show that the mean value of the position error of the lifting mechanism is 3. 02 mm,the maximum value is 4. 55 mm,the average error of the position of the waist joint is 1. 21 mm,the maximum is 2. 14 mm,the mean value of the shoulder joint position error is 1. 55 mm,the maximum value is 1. 36 mm,and the elbow joint position. The mean value of the error is 1. 06 mm,the maximum is 2. 33 mm,the mean value of the wrist joint position error is 1. 11 mm and the maximum is 1. 97 mm,which basically meets the requirement of the orchard picking operation.
作者
高杨
刘继展
周尧
Gao Yang;Liu Jizhan;Zhou Yao(Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education,Jiangsu University,Zhenjiang 212013,China)
出处
《农机化研究》
北大核心
2019年第11期132-137,共6页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金项目(51475212)
江苏省自然科学基金项目(BK20151339)
