抚育机器人优化性设计——基于MatLab  

Optimization Research on the Tending Robot --Based on MatLab

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作  者:秦丽娜[1] Qin Lina(Wuhan Business University, Wuhan 430056, China)

机构地区:[1]武汉商学院,武汉430056

出  处:《农机化研究》2019年第6期43-47,共5页Journal of Agricultural Mechanization Research

基  金:湖北省教育厅科学研究计划项目(B2014153).

摘  要:以当前广泛应用于森林抚育采伐的抚育机器人作为研究对象,对其核心动作部件-机械臂进行优化性设计。根据运动部件的抚育原理及所要达到的育林效果,建立理论数学动力学模型,通过对各机械臂构件进行机械优化,绘制三维动作部件物理模型,并结合机械臂的协作运动控制机理及轨迹方案,对主要控制参数对比计算并选取。同时,利用MatLab分析工具,在核心控制算法理论支撑下开展试验仿真。针对抚育机器人的核心动作部件—机械臂系的软硬件系统进行改进优化,研究抚育机器人在抚育过程中的运动轨迹及部件动作变化情况,为进一步优化抚育机器人整机结构及协调性提供了改进思路和方法,并可为提升抚育机器人装置的整体工作效率提供理论参考。Taking the tending robot which is widely used in forest tending and felling as the research object, the optimization design of the core moving parts (mechanical arm) is carried out. According to the tending principle of moving parts and the desired forestation effect, a theoretical mathematical dynamic model is established correctly. Contrasting, calculating and selecting the main control parameters, then using the MATLAB analysis tool, we carried out the experimental simulation under the core control algorithm through mechanical optimization for the mechanical arm component, drawing the 3D moving parts physical model, and combined with the mechanical arm cooperative motion control mechanism and the trajectory scheme. The results show that, based on the MATLAB software, the hardware and software system of the core moving component (mechanical arm system) on the tending robot is optimized, and the action trajectory and the parts change of the tending robot in the tending process is researched, which not only can provide improvement ideas and methods for the further optimizing the overall structure and coordination of the tending robot, but also can give some theoretical reference for improving the overall working efficiency of the tending robot device.

关 键 词:抚育机器人 机械臂 动力学模型 MATLAB 控制算法 

分 类 号:S776.27[农业科学—森林工程;农业科学—林学] TP242

 

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