葡萄采摘4-DOF机械臂设计与虚拟样机仿真
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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.
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.
引文
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[3]刘继展.温室采摘机器人技术研究进展分析[J].农业机械学报,2017,48(12):1-18.
[4]纪超,冯青春,袁挺,等.温室黄瓜采摘机器人系统研制及性能分析[J].机器人,2011,33(6):726-730.
[5] N. Kondo. M. Monta. T. Fujiura. Fruit harvesting robots in Japan[J]. Adv. Space Res,1996,18(1/2):181-184.
[6]袁志英,陈进.果蔬采摘机器人的发展现状、问题及对策分析[J].四川农业与农机,2014(6):16-18.
[7]伍锡如,黄国明,刘金霞,等.新型苹果采摘机器人的设计与试验[J].科学技术与工程,2016,16(9):71-79.
[8]李伟,李吉,张俊雄,等.苹果采摘机器人机械臂优化设计及仿真[J].北京工业大学学报,2009,35(6):721-726.
[9]冯青春,纪超,张俊雄,等.黄瓜采摘机械臂结构优化与运动分析[J].农业机械学报,2010,41(S1):244-248.
[10]郭素娜,张丽,刘志刚.一种高精度自主导航定位的葡萄采摘机器人设计[J].农机化研究,2016,38(7):20-24.
[11]熊俊涛,邹湘军,陈丽娟,等.荔枝采摘机械手果实识别与定位技术[J].江苏大学学报:自然科学版,2012,33(1):1-5.
[12]田海波,马宏伟,魏娟.串联机器人机械臂工作空间与结构参数研究[J].农业机械学报,2013,44(4):196-201.
[13]周霏.四自由度关节机械臂运动仿真研究[D].南京:南京航空航天大学,2015.
[14] Edris Farah,Shao Gang Liu. D-H Parameters and Forward Kinematics Solution for 6D of Surgical Robot[J]. Applied Mechanics and Materials,2013,415:18-22.
[15]蔡自兴.中国机器人学40年[J].科技导报,2015,33(21):23-31.
[16] Dan Zhang,Bin Wei. Interactions and Optimizations Analysis between Stiffness and Workspace of 3-UPU Robotic Mechanism[J]. Measurement Science Review,2017,17(2):83-92.
[17]田海波,马宏伟,魏娟.串联机器人机械臂工作空间与结构参数研究[J].农业机械学报,2013,44(4):196-201.
[18] Bin Hua,Yilin Chi,Xuejun Wang,et al. Study on Kinematics Simulation of Multi-Joint Robotic Gripper Based on ADAMS[J]. Applied Mechanics and Materials,2014,444-445:1384-1388.
[19] Binghui Fan,Yizheng,Chengzhi Yuan,et al. The Motion Simulation of Humanoid Robots Based on Adams[J]. Advanced Materials Research,2012,490-495:783-787.