苹果采摘机器人机械臂优化设计及仿真

Optimization Design and Simulations of the Apple-picking-robot Arm

为了提高苹果采摘机器人的收获空间和采摘效率,减小机械臂的操作空间和结构尺寸,以适应果树的非结构化环境,结合苹果果树的特点和生长环境,采用参数化分析方法,探讨了机器人基座高度、采摘距离与机械臂长度、转角和操作空间、工作空间之间的关系,优化了苹果采摘机械臂结构参数,在求解位移正逆解和雅克比矩阵基础上,通过ADAMS和MATLAB建立了集三维实体设计、动力学建模、PD控制于一体的交互式仿真系统.仿真结果表明,在满足果园采摘条件的前提下,该机械臂结构简单、紧凑,能收获目标区域内90.2%以上的果实,以最优结构尺寸获得了最佳收获空间.

The manipulator＇s structure parameters were designed with the method of parametric analyses considering the natural orchard environment firstly to minimize the structure parameters while to improve the harvesting space. After the inverse and the forward solution of kinematics were derived, a virtual simulation environment was made by cooperation of ADAMS and MATLAB, combining the 3-D solid designing, dynamics modeling, controlling and visualization simulation. The results indicate that the apple harvesting manipulator could locate positions of 90.2 % of the apples in the workspace within the required conditions, which proved the optical structure parameters achieve goals of the optimal designing.