| 智能型采棉机器人中单机械手运动学建模与仿真 |
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| 引用本文： | 汪木兰,殷梅,韦皆顶,费树岷.智能型采棉机器人中单机械手运动学建模与仿真[J].农机化研究,2009,31(5). |
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| 作者姓名： | 汪木兰 殷梅 韦皆顶 费树岷 |
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| 作者单位： | 1. 南京工程学院,先进数控技术江苏省高校重点建设实验室,南京,210013
2. 东南大学,自动化学院,南京,210096 |
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| 基金项目： | 江苏省高校自然科学研究计划，先进数控技术江苏省重点实验室开放基金，江苏省高等学校大学生实践创新训练计划项目，南京工程学院人才引进基金 |
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| 摘 要： | 针对我国采棉方式严重制约着采摘效率和收获成本的现状,提出了基于单机械手的智能型采棉机器人构想.根据D-H法则和机械手的结构参数,建立了单机械手的运动学模型,采用反变换法求解运动学逆问题,利用MATLAB仿真,验证了所建模型和所有连杆参数的正确性,保证了机械手各关节的准确运动,实现了棉花的实时、高效采摘,并且可以在上述机械手运动学模型基础上开展轨迹规划和避障等技术研究.
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| 关 键 词： | 采棉机器人 单机械手 运动学 |
Modeling and Simulation of the Single Manipulator for Intelligent Cotton-picking Robot |
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| Wang Mulan,Yin Mei,Wei Jieding,Fei Shumin.Modeling and Simulation of the Single Manipulator for Intelligent Cotton-picking Robot[J].Journal of Agricultural Mechanization Research,2009,31(5). |
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| Authors: | Wang Mulan Yin Mei Wei Jieding Fei Shumin |
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| Institution: | 1.Jiangsu Key Laboratory of Advanced Numerical Control Technology;Nanjing Institute of Technology;Nanjing 210013;China;2.School of Automation;Southeast University;Nanjing 210096;China |
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| Abstract: | According to the low efficiency and high cost of the cotton-picking in China,a prototype of intelligent cotton-picking robot with a single manipulator was proposed.Under the D-H principle and the manipulator parameters,the corresponding kinematics model was built and calculated by means of inverse transformation method.The results simulated with MATLAB demonstrate that the proposed mathematical model and connecting rod parameters are reasonable,all joint motions are correct and cotton-picking is realized.Ba... |
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| Keywords: | cotton-picking robot single manipulator kinematics |
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