葡萄采摘4-DOF机械臂设计与虚拟样机仿真  

Grape Picking 4-DOF Robot Arm Design and Virtual Prototype Simulation

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作  者:杜金财 尹建军 贺坤 余成超 Du Jincai;Yin Jianjun;He Kun;Yu Chengchao;Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education,Jiangsu University

机构地区:江苏大学现代农业装备与技术教育部重点实验室

出  处:《农机化研究》2019年第8期58-64,共7页Journal of Agricultural Mechanization Research

基  金:国家自然科学基金项目(51475212)

摘  要:为实现篱架式栽培的食用葡萄自动化采摘,设计了一种关节型四自由度(4-DOF)机械臂,并利用DH参数法建立机械臂的连杆坐标系。通过MatLab里的Robotics Toolbox建立机械臂的数学模型,对机械臂的正、逆运动学进行仿真,对末端执行器走直线轨迹进行了轨迹规划。利用ADAMS建立机械臂的虚拟样机,将轨迹规划仿真数据作为驱动,进行动力学仿真,获得夹持2kg葡萄时腰关节、肩关节、肘关节及腕关节所需驱动力矩分别为95、52、48、12N·m,从而为采摘机械臂的物理样机制造与采摘试验提供了技术依据。In order to realize the automatic harvesting of food-grass-growing grapes,a four-degree-of-freedom( 4-DOF) robotic arm was designed. Using the D-H parameter method,the link coordinate system of the robot arm is established. The mathematical model of the robot arm was established through the Robotics Toolbox in MATLAB. The forward and inverse kinematics of the robot arm were simulated,and the trajectory planning of the straight trajectory of the end effector was performed. Using ADAMS to build a virtual prototype of the robotic arm,and using the simulation data of path planning as a driving force to perform dynamics simulation. When gripping 2 kg grapes as load,the lumbar,shoulder,elbow,and wrist joints require 95 N · m,52 N · m,48 N · m and 12 N · m as driving torques. The results provid technical basis for physical prototyping and picking trials of picking robots.

关 键 词:葡萄采摘 4-DOF机械臂 轨迹规划 虚拟样机 动力学仿真 

分 类 号:TP241[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]

 

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