| 组培苗移植机器人机械臂的设计 |
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| 引用本文： | 杨丽,刘恩托,张铁中.组培苗移植机器人机械臂的设计[J].农机化研究,2009,31(1). |
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| 作者姓名： | 杨丽 刘恩托 张铁中 |
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| 作者单位： | 中国农业大学,工学院,北京,100083 |
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| 基金项目： | 中国农业大学校科研和教改项目 |
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| 摘 要： | 根据组培苗的生长特点和移植作业要求,采用参数化设计方法,研制设计了一个3自由度水平关节式组培苗移植机器人机械臂。该机械臂主要由大臂、小臂和伸缩臂组成,具有两个水平转动关节和一个垂直移动关节,能够实现绕垂直轴线的两个回转运动和1个沿垂直轴线的上下平移运动。该机械臂结构轻便小巧、运动平稳、定位精度高,能够满足移苗作业要求。
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| 关 键 词： | 组培苗 移植机器人 机械设计 机械臂 |
Design on Manipulator of Tissue Culture Plantlet Transplanting Robot |
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| Yang Li,Liu Entuo,Zhang Tiezhong.Design on Manipulator of Tissue Culture Plantlet Transplanting Robot[J].Journal of Agricultural Mechanization Research,2009,31(1). |
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| Authors: | Yang Li Liu Entuo Zhang Tiezhong |
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| Abstract: | A horizontal articulated manipulator with 3-DOF for tissue culture plantlets transplanting was designed with the method of parametric design according to the vegetal trait and transplanting process requirement.The manipulator primarily consisted by upper arm,forearm and telescopic arm,and it has two horizontal rotational joints and one vertical moving joint,and can rotate with two vertical axes and move up and down along a vertical axis.The manipulator has the excellence of portability,moving smoothness and high precision as well as can satisfy the requirement of transplanting process. |
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| Keywords: | tissue culture plantlet transplanting robot mechanical design manipulator |
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