基于农业采摘的机械臂结构设计研究

Research on the Design of Mechanical Arm Structure Based on Agricultural Picking

为提高农业采摘机械手整体的工作效率和机械臂采摘工作的灵活性与准确性,针对农业采摘机械手的结构特征问题,根据农业采摘器具机械臂的运动学原理,在保证臂体整体结构紧凑、适应作业场所的前提下,对机械臂进行结构优化,并在可操作性的理论模型的基础上,通过对机械臂进行建模、仿真分析及关键运动构件参数的优化,验证此机械臂结构设计的可行性与合理性。同时,结合其相关运动控制参数设定及要求,实现农业采摘机械臂的准确采摘定位化与轨迹化控制与反馈调节控制,达到机械臂结构的优化目标,为后续机械臂轨迹规划控制奠定良好的基础,亦可作为其他农机结构优化的参考。

In order to improve the overall efficiency of the agricultural picking manipulator,and the flexibility and accuracy of the manipulator picking work,the structure of the manipulator are designed and optimized in view of the structural characteristics according to the kinematic principle of the mechanical arm of the agricultural picking device,which is compacted with the whole structure of the arm body and is adapted to the working place.On the basis of the operability of theoretical model,the feasibility and rationality of the mechanical arm structure design are validated by modeling,simulation analysis and optimization of the key moving component parameters.At the same time,consider the related motion control parameters setting and requirements,the accurate picking,positioning and trajectory control and feedback regulation control are implemented on the agricultural picking manipulator to achieve the goal of the structural design optimization of the mechanical arm.It would be lay a good structural premise for the trajectory planning control of the following up manipulator working,which not only can provide certain structural guarantee for the overall agricultural picking machinery automation level,but also can as a reference for structure optimization of other agricultural machinery.