葡萄采摘4-DOF机械臂设计与虚拟样机仿真

为实现篱架式栽培的食用葡萄自动化采摘,设计了一种关节型四自由度(4-DOF)机械臂,并利用DH参数法建立机械臂的连杆坐标系。通过MatLab里的Robotics Toolbox建立机械臂的数学模型,对机械臂的正、逆运动学进行仿真,对末端执行器走直线轨迹进行了轨迹规划。利用ADAMS建立机械臂的虚拟样机,将轨迹规划仿真数据作为驱动,进行动力学仿真,获得夹持2kg葡萄时腰关节、肩关节、肘关节及腕关节所需驱动力矩分别为95、52、48、12N·m,从而为采摘机械臂的物理样机制造与采摘试验提供了技术依据。

Grape Picking 4-DOF Robot Arm Design and Virtual Prototype Simulation

In order to realize the automatic harvesting of food-grass-growing grapes,a four-degree-of-freedom(4-DOF)robotic arm was designed.Using the D-H parameter method,the link coordinate system of the robot arm is established.The mathematical model of the robot arm was established through the Robotics Toolbox in MATLAB.The forward and inverse kinematics of the robot arm were simulated,and the trajectory planning of the straight trajectory of the end effector was performed.Using ADAMS to build a virtual prototype of the robotic arm,and using the simulation data of path planning as a driving force to perform dynamics simulation.When gripping 2kg grapes as load,the lumbar,shoulder,elbow,and wrist joints require 95N·m,52N·m,48N·m and 12N·m as driving torques.The results provid technical basis for physical prototyping and picking trials of picking robots.