城市园林自动修剪机器人动力学仿真研究
|
摘要
园林修剪的意义在于提升整体城市绿化与规划水平。为此,在深入理解城市园林自动修剪机器人的整体结构与工作原理的基础上,结合机构部件的运动学规律,得出修剪机器人的动力学理论模型,并根据修剪机器人各关节的工作空间,通过驱动函数与下位机程序控制,开关量输出至修剪机器人各运动执行部件开展修剪仿真作业试验。结果表明:利用机构的运动定位与补偿功能,可实现修剪机器人各关节作业定位的准确性,定位误差控制在6%左右;不同轨迹跟踪,多次目标函数优化,便于掌握各关节臂的运动角度与作业过程中的扭矩变化情况,了解自动修剪机器人实际运动轨迹及各主要执行关节扭矩与剪切力,可为相似修剪机器人的开发与改进提供一定思路。
The significance of garden pruning is to improve the overall urban greening and planning level. In deep understanding of the urban landscape of the overall structure and working principle of automatic pruning robot based on the kinematics law of institutions components,the pruning robot dynamics theory model was obtained,then according to the working space of each joint of the pruning robot,the switch output to the motion execution component of the pruning robot to carry out pruning simulation operations testing through the driving function and the program control. Results showed that the accuracy of the positioning of the joint operation of the robot is realized by using the motion positioning and compensation function of the mechanism,and the position error is controlled at about 6%. Different trajectory tracking,the multiple objective function optimization,mastering arm movement of each joint angle and torque changes in the process of operation,grasping the automatic pruning robot real trajectory and the major joint torque and shearing force were done,which could provide some ideas and thinking for the development and improvement of similar pruning robot.
The significance of garden pruning is to improve the overall urban greening and planning level. In deep understanding of the urban landscape of the overall structure and working principle of automatic pruning robot based on the kinematics law of institutions components,the pruning robot dynamics theory model was obtained,then according to the working space of each joint of the pruning robot,the switch output to the motion execution component of the pruning robot to carry out pruning simulation operations testing through the driving function and the program control. Results showed that the accuracy of the positioning of the joint operation of the robot is realized by using the motion positioning and compensation function of the mechanism,and the position error is controlled at about 6%. Different trajectory tracking,the multiple objective function optimization,mastering arm movement of each joint angle and torque changes in the process of operation,grasping the automatic pruning robot real trajectory and the major joint torque and shearing force were done,which could provide some ideas and thinking for the development and improvement of similar pruning robot.
引文
[1]薛烨,周健,李立君,等.振动式林果采摘机采摘臂动力学仿真分析[J].农机化研究,2014,36(5):35-38.
[2]李扬,杜帅,陈宝林,等.高枝修剪机姿态协调控制与精准锯切定位[J].农业工程学报,2017,33(10):40-48.
[3]倪江楠,朱西方.自适应移动转向多功能园林修剪机械设计[J].农机化研究,2018,40(3):185-188,198.
[4]崔国华,周海栋,王南,等.基于Isight的3-UPS-S并联机器人机构多目标优化[J].农业机械学报,2013,44(9):261-266.
[5]吕萌萌,郭新宇,陆声链,等.基于Unity 3D果树交互虚拟修剪技术及其实现[J].农机化研究,2015,37(4):7-11,35.
[6]李树森,彭程,田倩,等.基于ANSYS的林木振动采种机机架的动力学分析[J].农机化研究,2014,36(6):49-53.
[7]赵磊,范梦然,赵新华,等.柔性并联机器人非线性摩擦动力学建模与速度规划[J].农业机械学报,2017,48(5):390-396.
[8]汤一平,韩旺明,胡安国,等.基于机器视觉的乘用式智能采茶机设计与试验[J].农业机械学报,2016,47(7):15-20.
[9]聂森,王丙龙,郝欢欢,等.基于机器视觉的果园导航中线提取算法研究[J].农机化研究,2016,38(12):86-89.
[10]陈培华,曹其新,马宏绪.基于力控制模式的四足仿生机器人的动力学仿真[J].东南大学学报:自然科学版,2013,43(S1):107-111.
[11]贺红林,何文丛,刘文光,等.神经网络与计算力矩复合的机器人运动轨迹跟踪控制[J].农业机械学报,2013,44(5):270-275.
[12]付威,刘玉冬,坎杂,等.果园修剪机械的发展现状与趋势[J].农机化研究,2017,39(10):7-11.
[13]李一方,龚成,饶成晨.基于单片机的全自动绿篱机架控制系统研究[J].机械制造,2013,51(7):42-45.
[14]王丹,邵小宁,胡少军,等.基于Kinect的虚拟果树交互式修剪研究[J].农机化研究,2016,38(10):187-192.
[15]杨彩娟,刘俊峰,李建平.果园修剪枝条处理机工作原理及切削力的研究[J].农机化研究,2013,35(3):62-65.
[16]陆叶,杨云兰.剪枝机器人的虚拟样机建模与运动学分析[J].机械与电子,2015(1):73-75.
[17]刘松,张佳,李超新,等.基于Atmega168绿篱修剪机器人的设计[J].机械工程师,2013(11):69-71.
[18]吴小锋.林业修剪机器人运动学、动力学仿真[D].南京:南京林业大学,2007.
[19]李瑞琴,赵耀虹,肖登红,等.一种平面n构件串联机构工作空间分析方法[C]//第9届中国机构与机器科学应用国际会议(CCAMMS 2011)暨中国轻工机械协会科技研讨会论文集.西安:中国机械工程学会机械传动专业学会机构学专业委员会,2011.
[20]芦卿.农业采摘机器人控制系统设计与研究[D].镇江:江苏大学,2014.
[2]李扬,杜帅,陈宝林,等.高枝修剪机姿态协调控制与精准锯切定位[J].农业工程学报,2017,33(10):40-48.
[3]倪江楠,朱西方.自适应移动转向多功能园林修剪机械设计[J].农机化研究,2018,40(3):185-188,198.
[4]崔国华,周海栋,王南,等.基于Isight的3-UPS-S并联机器人机构多目标优化[J].农业机械学报,2013,44(9):261-266.
[5]吕萌萌,郭新宇,陆声链,等.基于Unity 3D果树交互虚拟修剪技术及其实现[J].农机化研究,2015,37(4):7-11,35.
[6]李树森,彭程,田倩,等.基于ANSYS的林木振动采种机机架的动力学分析[J].农机化研究,2014,36(6):49-53.
[7]赵磊,范梦然,赵新华,等.柔性并联机器人非线性摩擦动力学建模与速度规划[J].农业机械学报,2017,48(5):390-396.
[8]汤一平,韩旺明,胡安国,等.基于机器视觉的乘用式智能采茶机设计与试验[J].农业机械学报,2016,47(7):15-20.
[9]聂森,王丙龙,郝欢欢,等.基于机器视觉的果园导航中线提取算法研究[J].农机化研究,2016,38(12):86-89.
[10]陈培华,曹其新,马宏绪.基于力控制模式的四足仿生机器人的动力学仿真[J].东南大学学报:自然科学版,2013,43(S1):107-111.
[11]贺红林,何文丛,刘文光,等.神经网络与计算力矩复合的机器人运动轨迹跟踪控制[J].农业机械学报,2013,44(5):270-275.
[12]付威,刘玉冬,坎杂,等.果园修剪机械的发展现状与趋势[J].农机化研究,2017,39(10):7-11.
[13]李一方,龚成,饶成晨.基于单片机的全自动绿篱机架控制系统研究[J].机械制造,2013,51(7):42-45.
[14]王丹,邵小宁,胡少军,等.基于Kinect的虚拟果树交互式修剪研究[J].农机化研究,2016,38(10):187-192.
[15]杨彩娟,刘俊峰,李建平.果园修剪枝条处理机工作原理及切削力的研究[J].农机化研究,2013,35(3):62-65.
[16]陆叶,杨云兰.剪枝机器人的虚拟样机建模与运动学分析[J].机械与电子,2015(1):73-75.
[17]刘松,张佳,李超新,等.基于Atmega168绿篱修剪机器人的设计[J].机械工程师,2013(11):69-71.
[18]吴小锋.林业修剪机器人运动学、动力学仿真[D].南京:南京林业大学,2007.
[19]李瑞琴,赵耀虹,肖登红,等.一种平面n构件串联机构工作空间分析方法[C]//第9届中国机构与机器科学应用国际会议(CCAMMS 2011)暨中国轻工机械协会科技研讨会论文集.西安:中国机械工程学会机械传动专业学会机构学专业委员会,2011.
[20]芦卿.农业采摘机器人控制系统设计与研究[D].镇江:江苏大学,2014.