猕猴桃采摘机器人柔性移动平台的设计

Design and Research of Flexible Robotic Platform for Kiwi Fruit Harvesting Robot

针对猕猴桃采摘机器人在果园中的移动问题,结合猕猴桃棚架式栽培模式及采摘机器人的作业特点设计了一种用于猕猴桃采摘机器人的柔性移动平台。首先,分析了猕猴桃棚架式生长环境及种植模式的参数特点,阐述了移动平台的作业要求以及其整体结构。其次,对该平台的高度调解机构建立几何模型,利用Mat Lab进行了力、角度等参数的分析计算,研究其高度调节范围和连杆角度的变化关系、液压缸的最佳安装点和调节极角。最后,利用ANSYS WORKBENCH在危险点对关键机构利用进行强度校核。本研究完成了柔性移动平台的总体设计,得出了平台作业的调节极角,通过对高度调节机构的分析校核,结果满足平台的作业要求。

This paper developed a kiwi harvesting robot mobile platform that was suitable to kiwi＂ s standardized planting pattern and able to meet the work requirements of kiwi harvesting robot. Growing environment and canopy frame of stand- ardized planting pattern in kiwi cultivating was surveyed and analyzed so as to obtain mobile platform＇ s work condition and design its whole mechanical structures appropriately. Specifically, the platform＇ s parameters of height adjustment mechanism was analyzed and calculated, to find out the relationship of angle and height range as well as the optimum mounting point of its driven hydraulic cylinder. Finally, the stress and strain of dangerous point on key part was analyzed using ANSYS WORKBENCH.