基于CAD变量几何法的采摘机器人运动学分析  

Based on the CAD Variable Geometric Method for Solving Kinematics Analysis of Harvesting Robot

作　　者：靳龙[1] 邱敏敏[2] 胡迎春[1] 

机构地区：[1]广西科技大学机械工程学院,广西柳州545006 [2]广西大学机械工程学院,南宁530004

出　　处：《农机化研究》2013年第12期52-55,共4页Journal of Agricultural Mechanization Research

基　　金：广西自然科学留学回国基金项目(2011GXNSFC018005)

摘　　要：采摘机器人作为农业机器人的重要类型,具有很大的发展潜力。为了实现对苹果采摘机器人的精确控制,对机构进行了运动学分析。多数学者对采摘机器人进行运动学分析都是基于Denavit-Hartenberg方法,该方法效率较低,计算较复杂,对于广大的机械工程师来说不是一个很好的选择。为此,以苹果采摘机器人为例,介绍了CAD变量几何法的应用。首先,给出了传统的Denavit-Hartenberg(D-H)对苹果采摘机器人的运动学分析,然后用CAD变量几何法对采摘机器人进行了运动学分析。通过两种方法的直观对比,可以明显地看出各自的优缺点。Harvesting robot has great potential on agricultural robot. The kinematics analysis is carried out in order to control the accurately for apple picking robot. Most scholars have studied the kinematics analysis of the harvesting robot by using the method of Denavit-Hartenberg, but which has low efficiency and complex counting process, for the mechal^Fnical engineer is not a very good choice . This paper introduce the CAD variable geometric method by the exam- ple of the harvesting robot. Firstly he method of Denavit-Hartenberg is introduced, then based on the CAD variable geo- metric method for solving kinematics analysis of Harvesting Robot, which makes people knows the advantages and disad- vantages of those method.

关 键 词：采摘机器人 自由度 CAD变量几何法 运动学分析 

分 类 号：S126[农业科学—农业基础科学] TH112.1[机械工程—机械设计及理论]