名优茶并联采摘机器人逆向运动学分析

Inverse Kinematics Analysis of a High-quality Tea Parallel Plucking Robot

结合并联机构的特点及茶叶采摘技术,创新性地开展了名优茶并联采摘机器人的研究。建立了机器人逆向运动学模型,利用齐次坐标变换计算出机器人运动学逆解;并在给定运动激励下,在MATLAB中绘制出动平台驱动臂的转角曲线。运用Pro/E绘制机器人三维图并导入ADAMS,建立了机器人虚拟样机模型,通过仿真获得驱动臂的转角曲线。上述两种方法的比较结果验证了机器人逆向运动学问题计算的正确性,同时表明了ADAMS仿真结果具有较好的精确性,并在此基础上制作了机器人原理样机。

Researches on a high-quality tea parallel plucking robot were carried out innovatively combined with the parallel mecha- nism and tea plucking techniques. An inverse kinematics model was established and the inverse kinematics solutions were calculated using homogeneous coordinate transformation. A given motion excitation was applied on the moving platform and the responded rotation- angle curves of the driving arms were plotted in MATLAB. 3D model of the robot was built using Pro/E software, and then it was imported into ADAMS to set up a virtual prototype. Results obtained from the above two methods prove the correctness of the inverse kinematics calculation and the accuracy of the simulation in ADAMS. A physical prototype was manufactured