摘要
研究了名优茶并联采摘机器人的结构和工作空间。根据并联机构尺度综合理论,应用遗传算法与直接搜索工具箱GADS,计算出机器人臂长尺寸。结合数值法和几何法,利用快速极坐标搜索法求出机器人工作空间边界,并在MATLAB中绘制空间三维图。比较三维图和给定的工作空间,验证了机器人设计满足工作空间的需求。
The structure and workspace of a parallel high-quality tea plucking robot were researched. According to dimensional synthesis analysis, the length of each arm was acquired. Combined the numerical method and geometric method, workspace boundary was calculated with the rapid polar searching method and drawn in MATLAB. Compared it with the given workspaee, the designed robot meet the workspace requirements.
出处
《机床与液压》
北大核心
2015年第3期12-15,共4页
Machine Tool & Hydraulics
基金
"十二五"国家科技支撑计划资助项目(2014BAD08B04)
关键词
并联机器人
尺度综合
GADS
工作空间
Parallel robot
Dimensional synthesis analysis
GADS
Workspaee
