基于Pro/E和ADAMS的林木干果采摘臂的运动仿真分析

Analysis of the Kinematics Simulation of Forestry Nuts Picking Arms Based on Pro/E and ADAMSBased on Pro/E and ADAMS

Pro/E和ADAMS是当前国内外使用最广泛的CAD/CAM软件。利用三维实体软件Pro/E建立采摘臂模型,并采用D-H法对采摘臂进行运动学分析和正逆解计算;应用ADAMS的运动仿真功能对林木干果采摘臂的运动特性进行仿真分析,给出了机器在特定运动状态下末端执行器的位移、速度及加速度等特性曲线,为采摘机的运动控制及优化设计提供参考依据。

Pro/E and ADAMS are the most widely used CAD/CAM software both at home and abroad. A picking arm model is established using three-dimension entity software Pro/E and the kinematics analysis and forward and reverse solution calculation of the picking arm are made using D-H method. The kinematics simulation function of ADAMS is used for the simulation analysis of the kinematics features of the forestry nut picking arm and the feature curves of displacement, velocity and acceleration of the end effecter of a machine under a specific motion status are obtained, which provides reference evidence for the motion control and the optimal design of picking arms.