采摘机器人奇异位型分析  

Singularity Analysis of Harvesting Robot

作　　者：王毅 张哲[1] 马冀桐 何宇 许洪斌 Wang Yi;Zhang Zhe;Ma Jitong;He Yu;Xu Hongbin(College of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054,China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆理工大学机械工程学院,重庆400054 [2]重庆大学机械工程学院,重庆400044

出　　处：《机械传动》2019年第1期124-130,共7页Journal of Mechanical Transmission

基　　金：重庆市科委重点产业共性关键技术创新专项(cstc2015zdcyztzx70003);重庆市基础科学与前沿技术研究一般项目(cstc2016jcyjA0444);重庆市基础研究与前沿探索一般项目(cstc2018jcyAX0071)

摘　　要：对采摘机器人机械手臂工作空间内的奇异位型进行了分析。首先,采用D-H参数,建立了采摘机器人机械臂的坐标系图,得到其正运动方程;其次,结合机器人手臂正运动方程,构造其雅可比矩阵,再基于雅可比矩阵,求解机械手臂出现奇异状态的所有构型情况,得到所有奇异点;最后,应用Robotics工具箱,基于可操作度灵活性指标和最小奇异值灵活性指标对机械臂的奇异情况进行仿真分析。仿真结果表明,研究的机械手臂共有3种内部奇异情况,同时验证了机械手臂奇异位型求解的正确性,为后续机械手臂的轨迹规划研究和奇异点规避研究奠定了基础。The singularity in the working space of harvesting robotic manipulator is analyzed.Firstly,the D-H parameters are used to establish the coordinate system of the harvesting robot manipulator,and then its positive equation of motion is obtained.Secondly,the Jacobian matrix is constructed by combining the positive equations of the manipulator,and then the Jacobian matrix is used to solve all the structures of the singular state of the manipulator,all singularities are obtained.Finally,by using the Robotics toolbox,the singularity of the manipulator is simulated and analyzed based on the flexibility index of maneuverability and the flexibility index of minimum singular value.The simulation results show that there are three kinds of internal singularities in the studied manipulator.At the same time,the correctness of the singularity of the manipulator is verified,which lays a foundation for the following research on the trajectory planning of the manipulator and the avoidance of the singularity point.

关 键 词：机械手臂 奇异位型 雅可比矩阵 灵活性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]