番茄收获机械手运动学优化与仿真试验  

Experiments of Optimization and Simulation on Kinematics of a Tomato Harvesting Manipulator

作　　者：梁喜凤[1] 苗香雯[2] 崔绍荣[2] 王永维[2] 

机构地区：[1]中国计量学院机电工程学院 [2]浙江大学生物系统工程与食品科学学院

出　　处：《农业机械学报》2005年第7期96-100,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(项目编号:50175101)

摘　　要：为分析并改善番茄收获机械手运动学特性,采用Denavit-Hartenberg坐标系,通过齐次变换建立了7自由度番茄收获机械手运动学模型。利用冗余度机械手的自运动特性,综合考虑可操作度和避关节极限两个性能指标进行运动学优化和仿真试验。试验表明,运动学优化后,机械手各关节速度变化均匀平缓,位置曲线过渡平滑,无关节越限现象,具有较高的灵活性,能够满足末端执行器的运动要求。To analyze and improve the kinematics properties of a tomato harvesting manipulator with 7-DOF, a kinematical model was established by the homogeneous transformation in a Denavit-Hartenberg coordinate and a process of kinematics optimization and simulation was performed by the self-motion of a redundant manipulator considering the performances of manipulability and the joint limit avoidance synthetically. The result indicated that the joints' velocity and position of the tomato harvesting manipulator varied with time equably and smoothly and the joints moved within their joint limits respectively when the kinematical optimization was performed. Therefore, the kinematical requirements of the end-executor are satisfied with high dexterity.

关 键 词：番茄 收获机械手 运动学 优化 仿真 

分 类 号：S225[农业科学—农业机械化工程] TP242.6[农业科学—农业工程]