番茄枝叶裁剪机械臂设计与运动学分析  

Design and kinematics analysis of a tomato branch and leaf cutting manipulator

作　　者：杨铭涛 梁喜凤 Yang Mingtao;Liang Xifeng(Mechanical and Electrical Engineering,China Jiliang University,Hangzhou,310018,China)

机构地区：[1]中国计量大学机电工程学院,杭州市310018

出　　处：《中国农机化学报》2021年第4期8-14,共7页Journal of Chinese Agricultural Mechanization

基　　金：国家自然科学基金项目(51505454);浙江省重点研发计划/重大科技专项重点农业项目(2015C02003);国家自然科学基金(31971796)。

摘　　要：根据番茄枝叶的生长特性与结构特点,以及现阶段番茄枝叶修剪人工成本高,容易损伤番茄植株等问题,设计一种五自由度的全自动番茄枝叶裁剪机械臂的机械结构,主要通过蜗轮蜗杆和两级伸缩结构作为传动结构实现,并建立机械臂的D-H方程,并在Adams软件里对机械臂进行运动学仿真。运用MATLAB中的Robotics工具箱建立机械臂的仿真模型,对机械臂进行工作空间分析。结果表明,该机械臂完整作业一次需要5 s,且机械臂的工作高度在65~335 cm范围内,研究结果对实现果蔬枝叶裁剪机械化与自动化具有重要意义。Considering the growth and structural characteristics of tomato branches and leaves,coupled with the current high cost of pruning tomato branches and leaves,it is easy to damage tomato plants.A mechanical structure consisting of a five-degree-of-freedom automatic tomato branch and leaf cutting robot arm was designed,mainly using a worm gear.The two-stage telescopic structure was laid out as a transmission structure,and the kinematics simulation of the mechanical arm was performed.The results showed that the manipulator needed 5 seconds to complete the operation,and the working space of the manipulator was in the range of 65~335 cm.The research results are of great significance for the mechanization and automation of fruit and vegetable branch and leaf cutting.

关 键 词：枝叶裁剪 五自由度机械臂 机械臂结构 运动学分析 工作空间分析 D-H方程 

分 类 号：S224.3[农业科学—农业机械化工程]