水果无损采摘机械手工作空间分析及参数确定
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摘要
水果采摘机器人在我国起步晚、发展缓慢,没有系统的方法用以设计采摘机械手,特别是机械手参数确定方法不成熟,造成工作空间浪费、影响机械性能等问题。为此,提出了一种蒙特卡洛法结合控制变量确定摆动关节范围的设计方法,利用D-H参数法对机械手臂进行正运动学分析,在MatLab平台下用蒙特卡洛法计算机械手的工作空间,并结合控制变量法,求出不同参数下的工作空间范围,根据相对较合理的工作空间范围,确定机械手臂的合理参数。以水果无损采摘机械手为例,根据具体设计要求,确定了手臂长度,利用蒙特卡洛法确定了摆动关节的转角范围,并验证参数的正确性。结果表明:该方法可以迅速有效地确定摆角范围,解决了以往摆动关节转角范围靠设计经验确定而存在的空间浪费的问题。
The fruit picking robot in our country started late and developed slowly,there is no systematic approach to the design of picking manipulator. Especially the method of manipulator parameter is not mature which resulted in a waste of space,the working effect of mechanical properties. In this paper,a kind of fruit picking manipulator is designed,and based on the Monte Carlo method proposed a designed method of joint swing to determine the scope of the control variables and used the method of D-H the parameters for kinematics analysis of mechanical arm. The MatLab platform uses the Monte Carlo method to calculate the working space of the manipulator,and controls variable method,calculates the different parameters of the work,then accords to the relatively reasonable work scope,determining the reasonable parameters of the mechanical arm. Finally,taken an example of fruit nondestructive picking manipulator,base on the specific design requirements and determine the length of the arm is determined by using the joint angle range of swing method.Lastly,it verifies the correct of parameters,the results showing that the method can quickly and effectively determine the angular range and solve the swing the joint angle range on design experience to determine the spatial waste problems.
The fruit picking robot in our country started late and developed slowly,there is no systematic approach to the design of picking manipulator. Especially the method of manipulator parameter is not mature which resulted in a waste of space,the working effect of mechanical properties. In this paper,a kind of fruit picking manipulator is designed,and based on the Monte Carlo method proposed a designed method of joint swing to determine the scope of the control variables and used the method of D-H the parameters for kinematics analysis of mechanical arm. The MatLab platform uses the Monte Carlo method to calculate the working space of the manipulator,and controls variable method,calculates the different parameters of the work,then accords to the relatively reasonable work scope,determining the reasonable parameters of the mechanical arm. Finally,taken an example of fruit nondestructive picking manipulator,base on the specific design requirements and determine the length of the arm is determined by using the joint angle range of swing method.Lastly,it verifies the correct of parameters,the results showing that the method can quickly and effectively determine the angular range and solve the swing the joint angle range on design experience to determine the spatial waste problems.
引文
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[2]张洁,李艳文.果蔬采摘机器人的研究现状问题及对策[J].机械设计,2010,27(6):1-3.
[3]Jian S,Sun X Y,Zhang T Z,et al.Design and experiment of opening picking robot for eggplant[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(1):143-147.
[4]Van Henten,E.J.Robot picks cucumbers in a greenhouse[J].Engineering and Technology for Sustainable World,2005,12(7):5-6.
[5]Tanigaki,Kanae.Fujiura,Tateshil.Akase,Akira Cherryharvesting robot[J].Computers and Electrocs in Agriculture,2008,63(1):65-72.
[6]N Kondo,Y Nishitsuji,P P Ling,et al.Visual feedback guided robotic cherry tomato harvesting[J].Transactions of the ASAE,1996,39(6):2331-2338.
[7]Shigehiko Hayashi.Evaluation of a strawberry-harvesting robot in a field test[J].Biosystems Engineering,2010,105:160-171.
[8]张盛,李艳聪,郑爽爽,等.浅析果蔬采摘机械人研究现状[J].科技创新与应用,2015(30):48-49.
[9]日本机器人学会.机器人技术手册[K].宗光华,刘海波,程君实,译.1版.北京:科学出版社,1996:175-180.
[10]刘淑英,张明路,韩慧伶.五自由度机械手动力学分析与仿真[J].河北工业大学学报,2009(2):32-36.
[11]王建军.搬运机械手仿真设计和制作[J].机械设计与制造,2012(9):146-148.