基于虚拟仿真软件的采摘机器人运动分析  

Motion Analysis of Picking Robot Based on Virtual Simulation Software

作　　者：孟川杰[1] Meng Chuanjie(Sichuan Post and Telecommunication College,Chengdu 610067,China)

机构地区：[1]四川邮电职业技术学院,成都610067

出　　处：《农机化研究》2021年第12期51-54,59,共5页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金面上项目(41472271)。

摘　　要：为了实现采摘机器人最优设计,建立了采摘机器人的虚拟样机模型,借助D-H矩阵方法建立了机器人运动分析的理论模型,确定了机器人各运动构件与末端执行器在空间位置之间的关系。采用Pro/E软件建立了采摘机器人三维模型,并将模型导入到了ADAMS仿真软件进行了运动学仿真分析。结果表明,采用虚拟仿真软件可以得到转动副角度随时间变化的情况。依据此方法可以求出每个转动副的位移、角速度、角加速度的变化情况,从而分析整个机器人的运动情况,对于采摘机器人的优化设计具有重要的参考价值。In order to realize the optimal design of the picking robot, it established the virtual prototype model of the picking robot, and it established the theoretical model of the robot motion analysis with the help of the D-H matrix method. Then it determined the relationship between each moving component of the robot and the spatial position of the end actuator. It established the three-dimensional model of picking robot by using Pro/E software, and the model is imported into ADAMS simulation software for kinematic simulation analysis. The simulation results show that the angle of the rotating pair can be obtained with time by using the virtual simulation software. According to this method, it calculated the displacement, angular velocity and angular acceleration of each rotating pair, so as to analyze the movement of the whole robot, which has important reference value for the optimal design of the picking robot.

关 键 词：采摘机器人 运动分析 虚拟仿真 三维建模 ADAMS软件 

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