6-DOF混联采茶机器人机构设计与动平衡分析  

Mechanism Design and Dynamic Balance Analysis of6 - DOF Hybrid Robot for Tea-picking

作　　者：沈惠平[1] 吉恩成 丁文芹 邓嘉鸣[1] 华耀 李涛[1] SHEN Huiping;JI Encheng;DING Wenqin;DENG Jiaming;HUA Yao;LI Tao(Research Center for Advanced Mechanisms Theory,Changzhou University,Changzhou 213164,China;Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing 210014,China)

机构地区：[1]常州大学现代机构学研究中心,常州213164 [2]农业农村部南京农业机械化研究所,南京210014

出　　处：《农业机械学报》2023年第5期416-426,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：江苏省产业前瞻与关键核心技术重点项目(BE2021016-2)。

摘　　要：为确保采茶机器人的精准采摘,研究设计安装于移动底盘的6-DOF混联采茶机器人机构。根据基于方位特征的机器人机构拓扑结构设计理论,提出并设计一个6-DOF混联操作手;对混联机构进行正反解位置分析;以杆长之和最小为目标函数,采用非线性规划法对机构进行杆件尺寸优化;应用有限位置法求出完全平衡时配重的质量参数与位置参数;运用遗传算法研究摆动力部分平衡优化,求出其配重质量和位置参数最优解,部分平衡优化结果表明,质心轨迹在y、z方向上的波动分别减少53.72%、25.10%,总摆动力波动减少43.33%,从而验证了部分平衡优化的有效性。为该混联采茶机器人结构设计与样机研制奠定了技术基础。In order to ensure the precise picking of tea picking robot,the 6-DOF hybrid tea picking robot mechanism installed on the mobile vehicle was studied and designed.According to the topological structure design theory of robot mechanism based on orientation feature,a 6-DOF hybrid manipulator was proposed and designed.The correctness of the mechanism was confirmed by analyzing the position of the forward and inverse solutions of the hybrid mechanism.Taking the minimum sum of lengths of links as objective function,the nonlinear programming method was used to optimize the dimensions of the links of the mechanism,and the optimal dimensions of all the links were obtained.The mass parameters and position parameters of the counterweight under complete balance were obtained by using the finite position method,so that the swing was constant to 0 and the position of the total center of mass of the mechanism was constant.The genetic algorithm was used to study the partial balance optimization of the swing force,and the optimal solution of its counterweight mass and position parameters was obtained,and the minimum total swing force was obtained within a certain range.The partial balance optimization results showed that the fluctuation of the centroid trajectory in the y and z directions was decreased by 53.72%and 25.10%,respectively,and the total swing force fluctuation was decreased by 43.33%,which verified the effectiveness of the partial balance optimization.Based on the finite position method,the steps of action balance analysis laid a technical foundation for the structural design and prototype development of the hybrid tea picking robot.

关 键 词：采茶机器人 混联机构 尺寸优化 摆动力平衡 

分 类 号：TH113.2-5[机械工程—机械设计及理论]