家禽净膛机械手末端执行器的设计及运动学分析

针对家禽净膛过程中末端执行器操作空间小、抓取灵活等特点,对家禽净膛机械手末端执行器进行总体设计,并设计三指三关节家禽自动净膛末端执行器的结构。通过对机械手末端执行器手指腱绳伸缩量与关节角度的变化规律、手指的工作姿态、手指干涉分析等进行分析研究,获得家禽末端执行器净膛抓取时的最佳指节倾斜倒角。应用D-H矩阵通过齐次矩阵变换建立家禽机械手末端执行器的模型,对末端执行器进行运动学求解,验证所建立的末端执行器模型的正确性与可行性。

Design and kinematics analyses of manipulator end effector for eviscerated poultry

An overall design principles and programs of the end effector of automatic evisceration for poultry was proposed and the structure of automatic evisceration for poultry with three fingers and three joints was designed for small operating space and flexible fetch features of the manipulator during eviscerating poultry.The manipulator uses tendon to drive fingers bent, the gear using a pair of external gear transmission makes fingers have relative rotation.The interference of the fingers was analyzed and the knuckle inclined chamfering was optimaized.The model of the manipulator finger is established through homogeneous matrix transformation with Denavit-Hartenberg matrix (D-H method),and kinematic solutions for the manipulator fingers was conducted.The correctness and feasibility of the establishing model of manipulator finger was verified.It will provide theoretical basis and technical support for further studying automatic evisceration manipulator for poultry.