关节型果蔬采摘机械臂优化设计与试验

针对现有采摘机械臂存在的问题,研制了四自由度的关节型果蔬采摘机械臂.为使机械臂能够灵活高效地收获目标空间果实,同时尽量减少机械臂的操作空间和结构尺寸,提出了一种应用于采摘空间为任意立方体,通用的关节型机械臂结构参数优化方法:以工作空间为约束条件,建立优化设计的数学模型,并利用Matlab优化工具箱来实现.为验证优化方法...

Optimization Design and Experiment of Fruit and Vegetable Picking Manipulator

In view of the existing problems of current picking manipulator,an articulated picking manipulator with four degree of freedom was developed.In order to harvest fruits and vegetables of the target space flexibly and efficiently,meanwhile to reduce operating space and structure size of the manipulator as much as possible,the general structure optimization method of the articulated manipulator for picking fruits and vegetables was proposed,which was applied in random cube of the picking space.The mathematical...