摘要
机械臂是采摘机器人的重要组成部分。本文采用柔性骨架结构,设计了一种新型全柔性机械臂,其运动依靠四根柔性骨架的拉伸实现。为了研究全柔性机械臂的空间运动与柔性骨架变化量的关系,对其空间运动进行实验模拟和坐标采集,通过对实验数据的分析,得出柔性臂的力学模型与材料力学中悬臂梁的模型相似。根据悬臂梁模型提出假设,结合理论计算推导,得出关系方程,并通过MATLAB仿真验证了方程的准确性。
The manipulator is an important part of the picking robot.Through creative design of a new type of flexible manipulators,manipulators motion depends on the variable quantity of four flexible skeletons.In order to inquiry the relationship between flexible manipulators motion in space and the variable quantity of four flexible skeleton,doing experimental of flexible manipulators motion in space without motor.We found this new type of manipulators is similar to the cantilever beam model of material mechanics by analysis the experimental conclusion.We forward two hypotheses reference the cantilever beam model.Finally we obtained the relation equation between the motion and the variable quantity through a series of formula derivation and verified the correctness of equation by MATLAB.
出处
《中国农机化学报》
北大核心
2013年第3期108-111,共4页
Journal of Chinese Agricultural Mechanization
基金
国家自然科学基金(50905002)
