基于CAM/CAE的采摘机器人运动轨迹控制研究

Research on the Trajectory Control of the Picking Robot Based on CAM/CAE

为适应现代农业装备向精细化、智能化方向,更为准确地掌握采摘机器人作业过程中的实时运动轨迹,不断提升采摘机器人的作业效率,以6自由度的采摘机器人机械臂为研究对象,在全面理解采摘机器人结构组成及作业原理的基础上,运用运动学与动力学相结合的理论模型,通过对其进行三维实体建模,优化整体臂体结构及控制系统的软硬件组成、臂体运动学求解算法及关键参数控制要求等。同时,利用CAM/CAE分析工具进行模拟仿真验证,结果表明:通过不断调整运动部件与作业环境间的相互关系,实现了采摘机器人臂体的运动轨迹跟踪控制,臂体的各个执行部件运动位置误差范围控制在10%之内,达到了机器人自主采摘的控制要求。这一控制研究可为采摘机器人其他相关部件研究与改进提供参考。

In order to adapt to the modern agricultural machinery development for the direction in refinement and intelligent,more accurately grasping the real-time motion rules of the picking robot in the process of the operating,and improving the operational efficiency of picking robot,taking the robotic arm of the picking robot with 6 degrees of freedom as the object of the study,the 3 D model were established by using the theoretical model which were combined by the mechanical kinematic and the dynamic on the basis of understanding the structure and working principle of the picking robot. Then The optimization of the whole arm structure and the hardware and software of the control system,the kinematics calculation algorithm of the arm and the control requirements of the key parameters,etc.,are simulated and verified by the CAM/CAE analysis tool,the test shows that by adjusting the relationship between moving parts and work environment,and realizing the trajectory tracking control of picking robot arm,the motion position error range of the arm body part of the implementation are controlled within 10%,which not only verify the feasibility of modeling based on the CAM/CAE theory,but also can meet the autonomous robot picking control requirements,the control study can provide some reference ideas and promotion value for research and improvement of other picking robot and other related components.