名优茶采摘机器人工作空间分析  

Analysis of Working Space of Famous Tea Picking Robot

作　　者：范元瑞 马智斌 杨化林[1] FAN Yuanrui;MA Zhibin;YANG Hualin(College of Mechanical and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266061, China)

机构地区：[1]青岛科技大学机电工程学院

出　　处：《机械与电子》2019年第8期73-75,80,共4页Machinery & Electronics

基　　金：山东省重点研发计划项目(2018GNC112007);山东省高校科技计划项目(J18KA015);山东省自然科学基金(ZR2019M EE102)

摘　　要：提出了一种机器人技术与图像识别技术相结合的名优茶叶采摘机器人。该机器人用于茶叶采摘的核心部件为Delta并联机构,具有三个平动自由度。通过对该机构进行运动学分析,推导出采摘机器人的运动学反解模型。利用单支链约束方程求解了采摘机器人的采摘空间,并基于Matlab建立了采摘机器人工作空间模型,绘制了工作空间立体图像。通过分析结果以及所求解的工作空间尺度范围显示,该名优茶采摘机器人工作空间能够实现茶垄全面覆盖,切实降低茶叶采摘的漏采率问题。A famous tea picking robot combining robot technology and image recognition technology was proposed. The core component of the robot for tea picking is the Delta parallel mechanism with three translational degrees of freedom. Through the kinematics analysis of the mechanism, the kinematic inverse model of the picking robot was derived. The picking space of the picking robot was solved by the single-chain constraint equation. The working space model of the picking robot was established based on Matlab, and the stereo image of the working space was drawn. Through the analysis results and the scale range of the solved workspace, the working space of the famous tea picking robot can realize the comprehensive coverage of the tea ridge and effectively reduce the leakage rate of tea picking.

关 键 词：名优茶采摘 DELTA机构 运动学反解 工作空间分析 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]