| 水果无损采摘机械手工作空间分析及参数确定 |
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| 引用本文： | 刘燕德,王观田,王均刚,舒盛荣.水果无损采摘机械手工作空间分析及参数确定[J].农机化研究,2019(4):12-17. |
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| 作者姓名： | 刘燕德 王观田 王均刚 舒盛荣 |
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| 作者单位： | 华东交通大学机电与车辆工程学院 |
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| 基金项目： | 国家自然科学基金项目(51765020);江西省自然科学基金项目(20161BAB206153) |
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| 摘 要： | 水果采摘机器人在我国起步晚、发展缓慢,没有系统的方法用以设计采摘机械手,特别是机械手参数确定方法不成熟,造成工作空间浪费、影响机械性能等问题。为此,提出了一种蒙特卡洛法结合控制变量确定摆动关节范围的设计方法,利用D-H参数法对机械手臂进行正运动学分析,在MatLab平台下用蒙特卡洛法计算机械手的工作空间,并结合控制变量法,求出不同参数下的工作空间范围,根据相对较合理的工作空间范围,确定机械手臂的合理参数。以水果无损采摘机械手为例,根据具体设计要求,确定了手臂长度,利用蒙特卡洛法确定了摆动关节的转角范围,并验证参数的正确性。结果表明:该方法可以迅速有效地确定摆角范围,解决了以往摆动关节转角范围靠设计经验确定而存在的空间浪费的问题。
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| 关 键 词： | 水果无损采摘机械手 工作空间 摆动关节 D-H参数法 |
Workspace Analysis and Parameter Determination of Fruit Nondestructive Picking Manipulator |
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| Liu Yande,Wang Guantian,Wang Jungang,Shu Shengrong.Workspace Analysis and Parameter Determination of Fruit Nondestructive Picking Manipulator[J].Journal of Agricultural Mechanization Research,2019(4):12-17. |
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| Authors: | Liu Yande Wang Guantian Wang Jungang Shu Shengrong |
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| Institution: | (School of Mechanotronics & Vehicle Engineering,East China Jiaotong University,Nanchang 330013, China) |
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| Abstract: | The fruit picking robot in our country started late and developed slowly, there is no systematic approach to the design of picking manipulator. Especially the method of manipulator parameter is not mature which resulted in a waste of space, the working effect of mechanical properties.In this paper, a kind of fruit picking manipulator is designed, and based on the Monte Carlo method proposed a designed method of joint swing to determine the scope of the control variables and used the method of D-H the parameters for kinematics analysis of mechanical arm. The MatLab platform uses the Monte Carlo method to calculate the working space of the manipulator, and controls variable method, calculates the different parameters of the work, then accords to the relatively reasonable work scope, determining the reasonable parameters of the mechanical arm. Finally, taken an example of fruit nondestructive picking manipulator, base on the specific design requirements and determine the length of the arm is determined by using the joint angle range of swing method. Lastly, it verifies the correct of parameters, the results showing that the method can quickly and effectively determine the angular range and solve the swing the joint angle range on design experience to determine the spatial waste problems. |
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| Keywords: | fruit nondestructive picking manipulator working space swing joint D-H parameter method |
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