茄子采摘机器人运动学分析与工作空间仿真

Kinematics Analysis and Working Space Simulation of Picking Robot for Eggplant

为实现4自由度关节式茄子采摘机器人的精确控制,对其进行了运动学分析和工作空间仿真。利用 Denavit—Hartenberg 方法建立了机器人运动学模型,得到了机器人的运动学正解;根据机器人的工作特点,采用简化的反变换法求解机器人运动学逆解。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。工作空间仿真结果表明:设计开发的4自由度采摘机器人结构设计合理,能够满足温室栽培模式下茄子采摘的要求。

The kinematics analysis and working space simulation are carried out in order to control the jointed robot accurately for eggplant picking robot with four degree--of--freedoms. The kinematics model of eggplant picking robot is founded bymeans of the Denavit-- Hartenberg method and the forward kinematics solution is completed. The inverse kinematics solution is obtained by reduced inverse transformation method according to working characteristic of the robot. The robot＇s working space is worked out and simulated through the Matlab software. The simulation results show that the fruit and vegetable picking arthral robot with four degree--of--freedoms meets the expectations for eggplant pick- ：ng in greenhouse. The rationality of the structure and frame is validated by the picking experiment.