基于视觉的并联移苗移栽机械臂运动控制分析  

Motion Control Analysis of Delta Parallel Transplanting Manipulator Based on Vision

作　　者：刘杰 王韧[2] 朱铭钧 常宇航 王曼溶 杨秀芳[1] Liu Jie;WANG Ren;ZHU Ming-jun;CHANG Yu-hang;WANG Man-rong;YANG Xiu-fang(Zhejiang A & F University,Hangzhou Zhejiang 311300;Hunan Industry Polytechnic)

机构地区：[1]浙江农林大学,浙江杭州311300 [2]湖南工业职业技术学院

出　　处：《现代农业科技》2019年第17期165-167,共3页Modern Agricultural Science and Technology

基　　金：浙江省大学生科技创新活动计划暨新苗人才计划资助项目(2018R412011);浙江农林大学大学生科研创新训练项目(2013200061);湖南工业职业技术学院2015年度院级科研课题(GYKYZ2015007)

摘　　要：为了满足移苗移栽作业自动化对精度、速度和灵活性的需求,基于Delta机构设计了一种并联构型的穴盘移栽机械臂,建立了机械臂的运动学模型。本文在移栽机械臂的基础上增加了视觉识别环节,以相机获得幼苗图片,将相片传递至中央处理器完成图片预处理,对图像进行光滑、增强处理和识别,提取图片特征,计算出作业对象中心位置,将中心位置反馈至中央处理器,计算出运动量,中央处理器输出指令,从而控制末端执行器完成作业。In order to meet the requirements of precision, speed and flexibility in the automation of transplanting, a plug-in robotic arm with parallel configuration based on Delta mechanism was designed,the kinematic model of the robot arm was established.The visual recognition link was added on the basis of the robot arm to obtain the seedling picture by camera,the photo was transmitted to the central processing unit to complete the image preprocessing,the image was smoothed,enhanced and recognized,the picture feature was extracted,and the center of work object was calculated.The center position was fed back to the central processing unit,the amount of exercise was calculated,and the central processor output an instruction to control the end effector to complete the work.

关 键 词：DELTA机构 钵苗移栽 运动学 视觉 

分 类 号：TH112[机械工程—机械设计及理论]