枸杞采摘机器人双机械臂结构设计与分析
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摘要
针对枸杞果实小、水分大、易破损的特点,并结合枸杞采摘的工作空间要求,以及枸杞采摘环境的复杂性,设计出了高效灵活的枸杞智能采摘机器人的双机械臂结构系统。运用D-H法建立了机器人坐标变换矩阵,对机器人运动学进行了分析,并提出一种反向建立D-H坐标系的间接求解算法来获得采摘机械臂的逆运动学解析解。通过运动学仿真验证了机器人结构设计的有效性,并对间接求逆运动学解析解算法的正确性进行了验证,计算时间比Matlab机器人工具箱的逆运动学算法减少了40%左右。
In view of the characteristics of small fruit, large water content and easy breakage of wolfberry, and combined with the working space requirements and complexity of wolfberry picking, a double mechanical arm structure system of efficient and flexible wolfberry harvesting robot is designed. The D-H method is used to establish the coordinate transformation matrix of the robot, and the kinematics of the robot is analyzed. An indirect solution algorithm for the inverse establishment of the D-H coordinate system is proposed to obtain the analytical solution of the inverse kinematics of the picking manipulator. The validity of the structure design is verified by kinematics simulation, and the correctness of the indirect solution of inverse kinematics is verified. The calculation time is reduced by about 40% compared with the inverse kinematics algorithm of the Matlab robot toolbox.
In view of the characteristics of small fruit, large water content and easy breakage of wolfberry, and combined with the working space requirements and complexity of wolfberry picking, a double mechanical arm structure system of efficient and flexible wolfberry harvesting robot is designed. The D-H method is used to establish the coordinate transformation matrix of the robot, and the kinematics of the robot is analyzed. An indirect solution algorithm for the inverse establishment of the D-H coordinate system is proposed to obtain the analytical solution of the inverse kinematics of the picking manipulator. The validity of the structure design is verified by kinematics simulation, and the correctness of the indirect solution of inverse kinematics is verified. The calculation time is reduced by about 40% compared with the inverse kinematics algorithm of the Matlab robot toolbox.
引文
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[6]Bulanonet D M,Kataoka T,Okamoto H,et al.Determing the 3-Dlocation of the apple fruit duringharvest[C].In:Proceedings of the ASAE Conference,Kyoto,Japan,2004.56-60
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[8]马可,李斌,王聪,等.蛇形机械臂的机构设计与关节驱动分析[J].高技术通讯,2017,27(11-12):958-965
[9]Bergamaschi P R,Nogueira A C,Saramago S F P.Design and optimization of 3R manipulators using the workspace features[J].Applied Mathematics and Computation,2006,172(1):439-463
[10]谢碧云,赵京.机器人运动灵活性问题的研究[J].高技术通讯,2010,20(8):856-862
[11]Craig J J.机器人导论[M].北京:机械工业出版社,2005.67-69
[12]Pieper D,Roth B.The Kinematics of Manipulators Under Computer Control[D].Palo Alto:Stanford University,1968.159-169
[2]Zhao Y,Gong L,Liu C,et al.Dual-arm robot design and testing for harvesting tomato in greenhouse[J].IF-AC-PapersOnLine,2016,49(16):161-165
[3]Zhang K,Xu L,Zhang D.Design and analysis of a 4-PP-PR parallel manipulator for strawberry harvesting in the ridge cultivation mode[C].In:Proceedings of the International Conference on Control Science and Systems Engineering(ICCSSE),Singapore,2016.248-251
[4]Yamamoto S,Hayashi S,Yoshida H,et al.Development of a stationary robotic strawberry harvester with a picking mechanism that approaches the target fruit from below[J].Journal of Jsam,2014,48(3):261-269
[5]宋健,孙学岩,张铁中,等.茄子采摘机器人机械传动系统设计与开发[J].机械传动,2009,33(5):36-39
[6]Bulanonet D M,Kataoka T,Okamoto H,et al.Determing the 3-Dlocation of the apple fruit duringharvest[C].In:Proceedings of the ASAE Conference,Kyoto,Japan,2004.56-60
[7]Reed J N,Tillett R D.Initial experiments in roboticmushroom harvesting[J].Mechatronics,1994,4(4):265-279
[8]马可,李斌,王聪,等.蛇形机械臂的机构设计与关节驱动分析[J].高技术通讯,2017,27(11-12):958-965
[9]Bergamaschi P R,Nogueira A C,Saramago S F P.Design and optimization of 3R manipulators using the workspace features[J].Applied Mathematics and Computation,2006,172(1):439-463
[10]谢碧云,赵京.机器人运动灵活性问题的研究[J].高技术通讯,2010,20(8):856-862
[11]Craig J J.机器人导论[M].北京:机械工业出版社,2005.67-69
[12]Pieper D,Roth B.The Kinematics of Manipulators Under Computer Control[D].Palo Alto:Stanford University,1968.159-169