| 基于Matlab的采摘机械手运动学仿真研究 |
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| 引用本文： | 崔玉洁,张祖立,范磊.基于Matlab的采摘机械手运动学仿真研究[J].农机化研究,2007(9):30-32. |
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| 作者姓名： | 崔玉洁 张祖立 范磊 |
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| 作者单位： | 沈阳农业大学,工程学院,沈阳,110161 |
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| 摘 要： | 结合人机协作思想,确定了采摘机械手自由度数目,并对其进行了结构设计,讨论了该机械手的运动学问题,并在Matlab环境下建立了采摘机械手的三维仿真图.同时,通过控制滑块驱动机械手运动,运动情况满足预定要求.编制简单的算法程序,对规划好的轨迹进行了运动学仿真,从而验证了连杆坐标系的正确性和连杆参数的合理性;在运动过程中各关节角连续变化,末端执行器可以实现预期的运动.
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| 关 键 词： | 自动控制技术 机械手 理论研究 运动学仿真 Matlab 算法程序 Matlab 采摘机械手 运动学 仿真研究 Based Manipulator Simulation 预期 末端执行器 连续变化 关节角 运动过程 合理性 连杆参数 连杆坐标系 验证 动学仿真 轨迹 规划 算法程序 |
| 文章编号： | 1003-188X（2007）09-0030-03 |
| 收稿时间： | 2007-01-02 |
| 修稿时间： | 2007-01-02 |
Study on the Simulation of Picking Manipulator Based on Matlab |
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| CUI Yu-jie,ZHANG Zu-li,FAN Lei.Study on the Simulation of Picking Manipulator Based on Matlab[J].Journal of Agricultural Mechanization Research,2007(9):30-32. |
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| Authors: | CUI Yu-jie ZHANG Zu-li FAN Lei |
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| Institution: | College of Engineering, S henyang Agricultural University, Shenyang 110161, China |
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| Abstract: | Based on the idea of man-machine cooperation, the degree and the parameters of the manipulator were designed. At the same time, the problem of the kinematics of the manipulator was discussed in this paper. This manipulator three dimensional simulation chart was established in MATLAB and its movement satisfied the request orders. The kinematics, inverse kinematics were simulated through simple algorithm procedure, consequently the structure of the manipulator was verified. All joint angles continuously changes, and the end effectors could imolement the anticioated movement. |
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| Keywords: | auto-control technology manipulator theoretical research kinematics simulation Matlab algorithm procedure |
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