圆形水果采摘机械手运动学分析与仿真  

Kinematics analysis and simulation of round fruit picking manipulator

作　　者：赵玲亚[1] 王英健[2] 赵子开 Zhao Lingya;Wang Yingjian;Zhao Zikai(Langfang Polytechnic Institute,Langfang,065000,China;School of Physics and Electricity,Langfang Normal University,Langfang,065000,China;School of Mechatronics Engineering,North China institute of Aerospace Engineering,Langfang,065000,China)

机构地区：[1]廊坊职业技术学院,河北廊坊065000 [2]廊坊师范学院物电学院,河北廊坊065000 [3]北华航天工业学院机电工程学院,河北廊坊065000

出　　处：《中国农机化学报》2020年第3期24-29,共6页Journal of Chinese Agricultural Mechanization

基　　金：河北省教育厅研究生创新资助项目(CXZZSS2019157)。

摘　　要：针对目前水果采摘劳动强度大、作业效率低及危险等问题,设计一种六自由度圆形水果采摘机械手。采摘机械手采用液压和气动系统相结合的方式实现升降、俯仰及快速采摘,且采用D-H法建立了各连杆坐标系,并对其进行运动学正解和反解分析;最后,运用Adams和Matlab对采摘机械手进行运动轨迹、夹紧力及工作空间的仿真分析。结果表明:机械手采摘的高度范围为230~5 100 mm,末端执行器关节的旋转角度为0°~280°,弧形手抓最大夹紧力为22 N,工作空间内的工作点分布均匀对称且水平方向上可360°旋转。通过仿真可有效地看出各连杆之间运动平稳,验证运动学分析的正确性,为进一步的研究提供理论基础。A six-degree-of-freedom circular fruit picking manipulator was designed for the current labor intensity of fruit picking, low work efficiency and danger. The picking manipulator uses the combination of hydraulic and pneumatic systems to realize lifting, pitching and fast picking. The D-H method is used to establish the coordinate system of each link, and the kinematics positive and inverse solution analysis is carried out. Finally, Adams and Matlab were used to simulate the motion trajectory, clamping force and working space of the picking manipulator. The results show that the height of the robot picking range is 230~5 100 mm, the rotation angle of the end effector joint is 0°~280°, the maximum clamping force of the curved hand grip is 22 N, and the working points in the workspace are uniformly symmetrical and can be rotated 360° in the horizontal direction. Through simulation, it can be effectively seen that the motion between the links is stable, and the correctness of the kinematics analysis is verified, which provides a theoretical basis for further research.

关 键 词：圆形水果 采摘机械手 运动学分析 工作空间 ADAMS仿真 

分 类 号：S225[农业科学—农业机械化工程] TP241[农业科学—农业工程]