黄瓜采摘机械臂运动学分析与样机试验

Kinematic analysis and prototype test of cucumber harvesting manipulator

为提高黄瓜机械化采摘的可行性,在完成新型黄瓜采摘机器人设计的同时,针对采摘机械臂这一关键部分展开研究,并制作黄瓜采摘机械臂样机;利用机构组合的形式代替采摘机械臂通常的关节型设计形式,完成黄瓜采摘机器人的整机方案设计。对作为关键部分的采摘机械臂进行机构运动分析和研究。通过建立矢量多边形和Adams运动学仿真对机构运动过程进行分析,证明设计方案的可行性。按照采摘机械臂设计方案进行零件加工装配和控制系统设计,完成试验样机试制,并进行黄瓜采摘试验,对采摘效果进行评价和总结,得到采摘机械臂中存在的问题和缺陷,并在后续的工作中对其进行优化。

In order to improve the mechanized harvesting feasibility of cucumber, a new type cucumber harvesting robot was designed, and harvesting manipulator was studied as the key part of robot. Mechanism comhination was adopted instead of the joint, during the scheme design of entire machine. Kinematic analysis of cucumber harvesting manipulator was completed, by setting vector polygon and simulation model with Adams, which verifies the feasibility of scheme. According to the design scheme, assembling and control system were designed, and then, the prototype of cucumber harvesting manipulator was completed and tested. Hence, the perform- ance of mechanized harvesting was summarized and evaluated, and defects and problems of manipulator were found, which would be optimized with subsequent work.