嫁接辅助机械臂控制系统仿真与试验

Simulation and experiment of control system for grafting auxiliary manipulator

针对果树高冠嫁接作业自动化的需要,设计可实现频繁位姿变换和位姿保持的辅助嫁接机械臂,依靠关节制动器来制动定位并保持位姿,并基于STM32设计机械臂的硬件控制系统。在ADAMS中建立机械臂的等效仿真模型,基于MATLAB/Simulink和ADAMS联合仿真技术搭建机械臂关节制动定位控制系统,完成不同牵引力激励和不同位姿制动条件下基于PID关节制动定位控制的联合仿真,仿真中关节1、2制动定位误差分别在5.13%和3.22%以下。按照设计结构制作机械臂的样机,对基于PID关节制动定位控制的样机进行制动定位试验,试验中关节实际制动曲线能够贴近理想等减速制动曲线,其中关节1、2实际制动定位误差分别为3.51%和3.96%,满足设定的辅助机械臂位姿定位要求。该装置为现代化果园冠层嫁接机械化辅助装置的研发和应用提供参考。

In order to meet the needs of automation of fruit tree grafting with high crown,an auxiliary grafting robot arm was designed,which can realize frequent position and posture transformation and posture maintenance.The joint brake was used to brake,position and posture maintenance.The hardware control system of the manipulator was designed based on STM32.The equivalent simulation model of the manipulator was established in ADAMS,and the joint braking and positioning control system of the manipulator was established based on MATLAB/Simulink and ADAMS joint simulation technology.The joint braking and positioning control simulation based on PID joint under different traction excitation and different posture braking conditions was completed.In the simulation,the braking and positioning errors of joints 1 and 2 were below 5.13%and 3.22%respectively.According to the design structure,the prototype of the manipulator was made,and the brake positioning test was carried out on the prototype based on PID joint brake positioning control.In the test,the actual brake curve of the joint can be close to the ideal equal deceleration brake curve,and the actual brake positioning errors of joints 1 and 2 were 3.51%and 3.96%,respectively,which meet the set requirements of auxiliary manipulator positioning.The device provides a reference for the development and application of modern orchard canopy grafting mechanization auxiliary device.