一种四自由度串联采摘机械臂系统设计

Design of a 4-DOF Series Picking Manipulator System

为提高番茄采摘效率,降低番茄生产成本,本文设计了一种四自由度串联采摘机械臂系统。在设计过程中,笔者首先确定关节型机械臂构型,分析机械臂各杆长和工作负载,完后各关节电机选型;然后设计控制系统以及无刷电机控制流程;最后搭建实物样机,控制各关节的电机将末端执行器送到成熟番茄的位置完成采摘任务。

In order to improve the efficiency of tomato harvesting and reduce the production cost of tomatoes,a Four-Degree-of-Freedom series harvesting manipulator system was designed in this paper.In the design process,the author first determined the configuration of the articulated manipulator,analysed the length and workload of the manipulator,and then choosed the type of the articulated motor;then designed the control system and the control flow of the brushless motor;finally,a prototype was built to control the motor of each joint to send the end-effector to the position of mature tomato to complete the picking task.