苹果采摘机器人机械手运动学分析与仿真

Apple Harvesting Robot Manipulator Kinematics Analysis and Simulation

通过齐次坐标变换建立了机械手的运动学模型,并对正运动学以及逆运动学分别进行了求解,通过初始位姿对运动学正反解进行了初步验证;利用矢量积法求解了机械手的雅克比矩阵,建立了机械手关节速度与末端执行器速度的瞬时对应关系;由机械手的具体结构设计出发,利用Pro/E建立了机械手的实体样机模型,并导入仿真软件ADAMS中对其进行运动学仿真验证,使机械手整个运动过程直观化;同时分析了仿真过程中机械手各关节的驱动与机械手末端点运动变化的关系。仿真结果表明机械手的运动学方程解完全正确。

In this paper,homogeneous coordinate transformation to establish the mechanical hand kinematic model,and forward kinematics and inverse kinematics was solved,respectively,through the initial positions of the kinematics of the positive and negative solutions of the initial verification;the use of vector quadrature method to solve the manipulator Jacobian matrix,has established joint manipulator end-effector speed and the instantaneous speed of the corresponding relations;by mechanical design of the specific structure of the starting hand,using Pro /E has established an entity robot prototype model,and import of its simulation software ADAMS the kinematic simulation,so that the whole robot motion process visualization,Analysis of the simulation process of the various joints of the drive robot manipulator end-point motion with the change in the relationship between simulation results show that the kinematics equations is entirely correct.