农业机器人切削过程仿真分析——基于计算机辅助设计

利用6自由度机器人切削加工平台,讨论了该机器人与计算机辅助设计工具的数据链结构,研究了其运动控制过程,并对设计结果进行有效优化。通过介绍切削加工控制系统整体结构,构建了机器人运动学模型,并根据计算机辅助设计工具,对机器人后续优化过程的坐标转换、各关节正逆运动学计算以及机器人运动控制程序生成过程进行了深入研究。同时,对系统进行了ADAMS软件仿真,并完成了3D样件的加工。试验结果表明:该系统可以自动生成机器人运动控制程序的加工指令,直接驱动机器人末端执行刀具的运动,实现零部件的加工生产,可行性高。

Analysis and Simulation of Cutting Process of Agricultural Robot-Based on Computer Aided Design

As for the 6 freedom degrees robot machining platform , it discusses the data chain structure of the robot and computer aided design tools , and research on the motion control process and optimize the design result .Through it intro-duces the machining control the whole structure of the system , to construct the robot kinematics model , then according to the computer aided design tool , the transformation of the coordinates of the robot the subsequent optimization process , each joint forward and inverse kinematics calculation and robot motion control program generation process is studied .This paper has carried on the system simulation software ADAMS , and completed the processing of 3D samples.The test re-sults show that the system can automatically generate a processing instruction robot motion control program , direct drive robot end effect or tool movement , produce the parts , high feasibility .