茄子采摘机器人机械传动系统设计与开发  

Design and Development of Transmission of Picking Robot for Eggplant

作　　者：宋健[1,2] 孙学岩[1] 张铁中[2] 张宾[2] 

机构地区：[1]潍坊学院机电工程系,山东潍坊261061 [2]中国农业大学工学院,北京100083

出　　处：《机械传动》2009年第5期36-38,共3页Journal of Mechanical Transmission

基　　金：国家自然科学基金资助项目(60375036);山东省自然科学基金资助项目(Y2008G32)

摘　　要：根据茄子采摘要求,进行了茄子采摘机器人结构参数的优化设计。采用交流伺服驱动系统的关节驱动方式,设计了结构精巧的关节传动装置。采用Pro/Engineer进行了零部件的实体造型,通过装配对零部件进行了修正,进而制造完成了试验样机。整机试验测试表明,设计开发的4自由度采摘机器人结构设计合理,运动学正解的误差为±1.5mm,工作稳定可靠,具有较高的运动精度。The optimal design is made on the parameters of the robot framework and structure according to the eggplant's growth distribution space. The arthral transmissions are planed skillfully based AC servo drive system. The solid modeling of the picking robot is carried out and revised by Pro/Engineer,and then the prototype of picking robot is made. The error of kinematics forward solution is ±1.5mm according to repetitious test. The experiments on the complete machine show that the picking robot with 4 DOF the system can credibly work,and can meet the demand of the harvesting eggplant.

关 键 词：采摘机器人 优化设计 传动系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]