基于园林的修剪机器人结构优化研究  

Research on Structure Optimization of Pruning Robot Based on Garden

作　　者：张超 张建林[1] Zhang Chao;Zhang Jianlin(College of Horticulture and Landscape Architecture,Southwestern University,Chongqing 400715,China;Civil Engineering College of Guang'an Vocational and Technical College,Guang'an 638000,China)

机构地区：[1]西南大学园艺园林学院,重庆400715 [2]广安职业技术学院土木工程学院,四川广安638000

出　　处：《农机化研究》2023年第1期90-94,共5页Journal of Agricultural Mechanization Research

基　　金：四川省教育厅课题(18ZB0265)。

摘　　要：针对园林修剪机器人作业精度和自动化作业程度较低的问题,对修剪机器人进行了结构优化设计。园林修剪机器人的主要组成包括主控制器模块、机械臂模块、电机模块、电机驱动模块、传感器模块和供电模块。为了实现园林修剪机器人自主导航时避障和自适应转向的功能,在机器人上增加激光传感器,并对其控制性能进行分析;为了保证机器人的性能最优化,从结构出发对其进行动力学分析,确定机械臂的运动方程。为了验证园林修剪机器人的性能,对其进行转向性能测试和移动性能测试。试验结果表明:机器人能够成功识别障碍物并自适应转向,且具有良好的移动和作业性能。Aiming at the problem of low precision and low degree of automation of garden pruning robot,the structure of garden pruning robot was optimized designed and researched.The garden pruning robot was constituted of master controller module,manipulator module,motor module,motor drive module,sensor module and power supply module.The laser sensor was installed to realize the function of obstacle avoidance and adaptive steering during autonomous navigation of garden pruning robot.And the kinematics equation o the robot arm was determined by analyzing its dynamics from the perspective of structure.To verify the performance o the garden pruning robot,the steering test and robot mobility test were conducted.The test results show that the robot could identify the obstacles and adapt to steering.It has good mobility and performance.

关 键 词：园林修剪机器人 作业精度 自动化作业程度 结构优化 

分 类 号：S776.274[农业科学—森林工程]