AMR果蔬自动收获机器人动力学建模与实时控制  

The Dynamics and Control of AMR Vegetable and Fruit Automatic Harvesting Robot

作　　者：曹东 田富洋 宋占华 闫银发 李法德 蔡占河 

机构地区：[1]山东农业大学机械与电子工程学院/山东省园艺机械与装备重点实验室,山东泰安271018 [2]菏泽市产品检验检测研究院,山东菏泽274000

出　　处：《农机化研究》2018年第2期7-13,18,共8页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(51205238)

摘　　要：现代农业的高速发展促使我国农业向精细农业、精准农业的方向深入发展,由此果蔬自动收获机器人的发展进入快车道。为此,设计研发了带有6自由度机械臂的果蔬自动收获机器人AMR1。该机器人为通用型果蔬自动收获机器人,可改装各种专用末端执行器以实现专用采摘。为了验证本机器人结构的合理性与实用性,通过利用SolidWorks软件进行了实体建模,并建立了相关的运动学、动力学模型,进一步设计了6自由度机械臂的PID-SMC控制算法,实时控制机械臂末端的轨迹跟踪。通过试验仿真,验证了所提出的动力学和控制模型,为果蔬自动收获机器人AMR1的进一步应用提供了参数数据。The rapid development of modern agriculture promote Chinese Precision Agriculture development deeply.Thus,the fruit and vegetable automatic harvesting robot have already entered quick development stage.This paper designed and developed the fruit and vegetable automatic harvesting robot AMR1.The robot is a universal automatic harvesting robot for fruits and vegetables,it can achieve special picking by various special end effectors in order to verify the practicality of the robot structure.In this paper,we use Solid Works software to carry on the entity modeling in order to verify Special-purpose of harvesting.We also established the kinematics and dynamics models.The PID-SMC control algorithm of 6 degree of freedom manipulator is designed further to real-time control of the trajectory tracking of robot arm.The simulation results show that the proposed dynamic and control model is reasonable.Data of the simulation reduced production costs and improved manufacturing efficiency.

关 键 词：机器人 自动收获 建模 仿真 

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