| 组培苗移植机器人的运动学求解 |
| |
| 引用本文： | 杨丽,张铁中.组培苗移植机器人的运动学求解[J].农业机械学报,2007,38(7):94-98. |
| |
| 作者姓名： | 杨丽 张铁中 |
| |
| 作者单位： | 中国农业大学工学院,100083,北京市 |
| |
| 摘 要： | 为了实现对5自由度关节式组培苗移植机器人的精确控制，对机器人进行了运动分析和综合，采用Denavit-Hartenberg分析方法建立了机器人操作臂的几何模型和运动学方程，实现了机器人的运动学方程正解；根据机构特点，用几何解析法得到封闭形式的机器人运动学方程逆解。对组培苗移植机器人进行了运动学仿真分析，验证了所求得的正解和逆解。机器人运动学正、逆解的实现，为组培苗移植机器人的轨迹规划和精确运动控制奠定了基础。
|
| 关 键 词： | 组培苗 移植 机器人 运动学求解 |
| 修稿时间： | 2006-02-24 |
Kinematic Solution of Tissue Culture Plantlet Transplanting Robot |
| |
| Yang Li,Zhang Tiezhong.Kinematic Solution of Tissue Culture Plantlet Transplanting Robot[J].Transactions of the Chinese Society of Agricultural Machinery,2007,38(7):94-98. |
| |
| Authors: | Yang Li Zhang Tiezhong |
| |
| Institution: | China Agricultural University |
| |
| Abstract: | In order to control the jointed robot accurately, the motion analysis and synthesis for 5 degrees of freedom of tissue culture plantlet transplanting robot were carried out. Geometrical model and kinematic equation of the robot manipulator were founded using the Denavit-Hartenberg analysis method, and forward solution of the kinematic equation was completed. According to configuration characteristic of the robot, close-type inverse solution of the kinematic equation was obtained by geometry analysis. The forward and inverse solution that had been obtained was validated by motion simulation analysis. Kinematic solution of the tissue,culture plantlet transplanting robot established a foundation for trajectory planning and accurately motion control. |
| |
| Keywords: | Tissue culture plantlet Transplant Robot Kinematic solution |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《农业机械学报》浏览原始摘要信息 |
| 点击此处可从《农业机械学报》下载免费的PDF全文 |
