农林机器人本体设计与优化

Design and Optimization of Agroforestry Robot Body

运用机电工程现代设计方法研究机器人多智能体调控技术,构建机器人平台,设计了一种具有冗余自由度、小臂具有可变尺度的变胞功能的执行结构,建立了工作空间正逆问题的数学模型,优化求得最小包容工作空间的主连杆几何参数,实现了农林机器人可扩展性、灵活性和多重构性功能。

This paper researched on robot multi-agent control technology, constructed a robot platform by using the modern electrome- cbanical engineering design method, and designed an execution structure which had a redundant degree of freedom, and a small arm with a metamorphic performance of a variable scale. The paper established a mathematical model of inverse problems of the working space, optimized the geometric parameters of the master connecting rod of the minimum inclusive work space and implemented functions of scalability, flexibility and multiple reconstruction of an agroforestry robot.