摘要
介绍禽蛋吸运机械手的结构基础上,采用D-H法建立其连杆坐标系,得到杆件几何参数和关节变量,并推导出其运动学方程。基于MATLAB,实现禽蛋吸运机械手的运动学、轨迹规划仿真与分析,为该机械手的运动控制提供数学模型,便于更好地开发利用,实现禽蛋的分级吸运。
After introducing the system structure, the local coordinate system of the robot links was established based on the D-H transformation ma trix. The geometrical parameters of the links and variables of the joints were gained. And more, the kinematics equation was ratiocinated here. Using the Robotics Toolbox model of MATLAB software, the simulation and analysis about kinematics and path planning of grading robot for eggs suction and transportation were achieved. It was propitious to utilize the robot system and promote its use in eggs grading, suction and transportation.
出处
《中国农机化学报》
2015年第5期157-160,共4页
Journal of Chinese Agricultural Mechanization
基金
江苏省自然科学基金面上项目(BK20131205)
