| 收获采摘机器人的运动学分析及仿真——基于ADMAS |
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| 引用本文： | 蒋昊俣,胡军,宋健.收获采摘机器人的运动学分析及仿真——基于ADMAS[J].农机化研究,2016(12):7-11. |
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| 作者姓名： | 蒋昊俣 胡军 宋健 |
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| 作者单位： | 1. 黑龙江八一农垦大学工程学院，黑龙江大庆 163319; 潍坊学院机电工程学院，山东潍坊 261000;2. 黑龙江八一农垦大学工程学院,黑龙江大庆,163319;3. 潍坊学院机电工程学院,山东潍坊,261000 |
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| 基金项目： | 国家自然科学基金项目(51505337);山东省科技计划项目(2011YD03048) |
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| 摘 要： | 为了对五自由度关节式收获机器人五自由度关节机器人末端执行器的位姿和运动进行描述,运用传统的D-H法建立各关节运动学数学模型,进行运动学正、逆解,求得末端执行器的位置关系式。基于UG软件建立了该机械手的三维立体模型,并通过ADMAS软件对机械手抓取、采摘和放下过程进行仿真分析,确定其运动轨迹。结果表明:所建立的运动学方程正确,设计的机械手满足工作要求,有较强的操作性,为收获采摘机械手的设计制造奠定了基础。
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| 关 键 词： | 收获机器人 五自由度机械手 运动学分析 仿真 |
Kinematics Analysis and Simulation for a Five-DOF Harvesting Robot-Based on ADMAS |
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| Jiang Haoyu;Hu Jun;Song jian.Kinematics Analysis and Simulation for a Five-DOF Harvesting Robot-Based on ADMAS[J].Journal of Agricultural Mechanization Research,2016(12):7-11. |
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| Authors: | Jiang Haoyu;Hu Jun;Song jian |
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| Institution: | Jiang Haoyu;Hu Jun;Song jian;College of Engineering,Heilongjiang Bayi Agricultural University;School of Mechanical Engineering,Weifang University; |
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| Abstract: | In order to design a five degree of freedom harvesting robot dedicated to picking fruit object , the position and movement of the end effector are described , which kinematics mathematic model is established with traditional D -H method , and the forward kinematics of the manipulator is analyzed to get the expression of the end effector of the manipu-lator.Then, based on the manipulator ’ s 3D model established with UG , the process of automatic feeding is simulated with ADMAS.The simulation result is consistent with the actual situation of the working process , indicating that the robot kinematics equation is valid , and the research provides some theoretical basis for future study . |
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| Keywords: | harvesting robot five-DOF manipulator kinematic analysis simulation |
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