茄子采摘机器人结构参数的优化设计与仿真

Optimization design and simulation on structure parameter of eggplant picking robot

果蔬采摘机器人是一类工作于非结构环境中的复杂光机电一体化产品,其结构和控制都比一般工业机器人要求更高。按照采摘对象茄子的生长分布空间和作业要求,进行机器人本体结构参数优化设计。采用基于Matlab的数值解法求解了机器人的工作空间,并进行了仿真。仿真结果表明:设计开发的4自由度采摘机器人能够满足温室栽培模式下茄子采摘的要求,验证了结构设计的合理性。

Fruit and vegetable picking robot is a kind of optical-mechanical-electrical equipment in complex environment. It＇s structure and control are more exigent than normal industrial robot. The parameters＇ Optimization design of the robot framework and structure is made according to the eggplant＇s growth circumstance and distribution space.The robot working space are carried out and simulated through the Matlab software. Simulation results show that the arthral robot picking fruit and vegetable with 4 degree-of-freedoms meets the expectations for picking eggplant in greenhouse. The rationality of the structure and frame is validated by the experiment.