番茄采摘机器人机械臂结构设计与参数优化

Structural Design and Parameter Optimization for Tomato Picking Robot Arm

农业采摘机器人属于非结构环境下作业的特种机器人,果实的采摘易受环境变化的影响,机械臂的结构特点直接决定机器人作业范围。根据番茄的特点及其植株的生长分布,设计了具有平行结构关节的四自由度机械臂,建立了机械臂运动学模型,完成了机械臂的结构参数优化设计,并使用MATLAB平台进行了仿真验证。在满足番茄采摘要求的前提下,实现了实际采摘无效空间最小化,证明了该机械臂结构设计合理。

Agricultural picking robot is a kind of advanced robot in non-structural environment,whose fruit picking process can be easily influenced by the harsh environment.The characteristics of the robot arm determine the robot working space directly.Based on the characteristics of tomato and its plant＇s distribution space,a robot arm with 4 degree-of-freedoms specified one parallel linkage is designed.Besides,optimization design on structure parameter of robot arm is provided.The kinematics of robot arm is established,and the robot working space is simulated through the Matlab software.Simulation results show that in the premise of meeting the expectation for picking tomatoes,we achieved the goal of minimizing invalid robot arm working space.The rationality of the structural design for robot arm is validated.