| 林木球果采集机器人机械臂起升运动分析 |
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| 引用本文： | 孔庆华 葛安华. 林木球果采集机器人机械臂起升运动分析[J]. 东北林业大学学报, 1997, 25(1): 45-48 |
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| 作者姓名： | 孔庆华 葛安华 |
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| 作者单位： | 东北林业大学 |
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| 基金项目： | 国家“八六三”计划与林业部联合资助 |
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| 摘 要： | 为了使林木球果采集实现自动化操作，研制了林木球果采集机器人。其总体结构分为三个部分：机械手、行走机构和计算机控制系统。文中对林木球果采集机器人在采集过程中机械臂起升时的运动做了分析计算，求出了当采集爪匀速直线上升时，大、小臂协调动作的运动规律，为液压驱动和计算机控制系统的设计提供了依据。
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| 关 键 词： | 林木 球果采集 机器人 机械臂 运动分析 |
Kinematics Analysis of Manipulator of Cone Collecting Robot in Rising |
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| Kong Qinghua,Ge Anhua,Lu Huaimin,Li Zhengyi. Kinematics Analysis of Manipulator of Cone Collecting Robot in Rising[J]. Journal of Northeast Forestry University, 1997, 25(1): 45-48 |
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| Authors: | Kong Qinghua Ge Anhua Lu Huaimin Li Zhengyi |
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| Abstract: | The general structure of cone collecting robot mainly consists of manipulator, walking mechanism and computer control system. The kinematics of manipulator in rising process was analyzed and the kinematics rule of coordination movement between big and small arms was calculated. The results of calculation may provide a basis for design of hydraulic and computer control system. |
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| Keywords: | Cone collecting Robot Kinematics analysis |
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