组培苗移植机器人的运动学求解

Kinematic Solution of Tissue Culture Plantlet Transplanting Robot

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。

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.