城市园林自动修剪机器人动力学仿真研究

园林修剪的意义在于提升整体城市绿化与规划水平。为此,在深入理解城市园林自动修剪机器人的整体结构与工作原理的基础上,结合机构部件的运动学规律,得出修剪机器人的动力学理论模型,并根据修剪机器人各关节的工作空间,通过驱动函数与下位机程序控制,开关量输出至修剪机器人各运动执行部件开展修剪仿真作业试验。结果表明:利用机构的运动定位与补偿功能,可实现修剪机器人各关节作业定位的准确性,定位误差控制在6%左右;不同轨迹跟踪,多次目标函数优化,便于掌握各关节臂的运动角度与作业过程中的扭矩变化情况,了解自动修剪机器人实际运动轨迹及各主要执行关节扭矩与剪切力,可为相似修剪机器人的开发与改进提供一定思路。

Dynamics Simulation Research on the Urban Landscape Automatic Pruning Robot

The significance of garden pruning is to improve the overall urban greening and planning level. In deep understanding of the urban landscape of the overall structure and working principle of automatic pruning robot based on the kinematics law of institutions components, the pruning robot dynamics theory model was obtained, then according to the working space of each joint of the pruning robot, the switch output to the motion execution component of the pruning robot to carry out pruning simulation operations testing through the driving function and the program control. Results showed that the accuracy of the positioning of the joint operation of the robot is realized by using the motion positioning and compensation function of the mechanism, and the position error is controlled at about 6%. Different trajectory tracking, the multiple objective function optimization, mastering arm movement of each joint angle and torque changes in the process of operation, grasping the automatic pruning robot real trajectory and the major joint torque and shearing force were done, which could provide some ideas and thinking for the development and improvement of similar pruning robot.