三臂多功能棚室农业机器人的运动学分析及试验  

Kinematics analysis and experiment of multifunctional agricultural robot in greenhouse with three arms

作　　者：权龙哲[1] 张冬冬[1] 查绍辉 奚德君 王昊[1] 

机构地区：[1]东北农业大学工程学院,哈尔滨150030

出　　处：《农业工程学报》2015年第13期32-38,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金(51405078);教育部博士点基金(20132325120007);中国博士后科学基金(2014M561318)

摘　　要：果蔬培育过程涉及采摘、喷雾、剪枝等多种作业内容,为此该文提出了一种三臂多功能农业智能机器人,各机械手臂具有不同的作业功能,同时每2条手臂之间又可实施协同作业;建立该机器人的运动学模型是实现该系统多功能作业的前提,为此该文采用D-H方法建立了机器人连杆坐标系,分别推导了视觉系统、剪切执行器、采摘执行器、喷洒执行器的运动学方程,实现了运动学正解;采用代数方法得到了封闭形式的运动学方程逆解,求解了在采摘和喷洒模式下的各末端执行器包络空间,选取包络空间中的若干特征点作为试验样本,并为该机器人系统搭建了用以检验其执行精度的三维坐标系。试验结果表明,该机器人系统的运动模型能够指导各末端执行器完成指定动作且最大误差仅为8 mm,误差远远小于末端执行器的开度,能够满足要求。In Greenhouses, the management of fruits and vegetable production involves many tasks, such as picking, spraying, cutting and so on. However, the agricultural robots currently available mainly focus on one specific task. This research focused on a new multifunctional agricultural robot with three arms. Each of its robotic arms has its own function for a different end use. The robot not only can complete one task by collaboration of two different robotic arms but also can fulfill spraying, cutting and picking tasks in the same area. So by using such robot, output productivity can be improved effectively and the cost would be reduced. The robot comprises caterpillar chassis, height-adjustable torso, mechanical structure with three arms, machine-vision system and control system. When at the state of working, the robot uses its machine-vision system to recognize targets. At the moment when targets are found, the robot adjusts its position in order to do tasks correspondingly. Setting up kinematics model of the agricultural robot is the precondition of realizing the system multi-functions. In this paper, we set up the link coordinate system of agricultural robot based on D-H approach. Homogeneous transforming matrixes of adjacent link were established according to the linkage parameters and joint variables. Kinematics equations of visual system, cutting end effector, picking end effector and spraying end effector were deducted and solved, respectively. So the relationship between the position and posture of end effects and linkage parameters and joint variables were determined. The closed-form inverse kinematics was presented by algebraic method and the value of joint variables was calculated according to the certain position and posture of end effects. Kinematics experiments were carried out to verify the correctness of kinematics algorithm and accuracy in application. Matlab software was used to help the calculation of the enveloping space of end effects in the mode of picking and spraying. A series of 12 points alr

关 键 词：机器人 末端执行器 运动学 D-H方法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] S126[自动化与计算机技术—控制科学与工程]