猕猴桃采摘机械移动平台结构设计及运动学仿真分析

Structural Design and Kinematics Simulation Analysis of Mobile Platform for Kiwifruit Picking Machine

鉴于猕猴桃集中采摘季节需要投入大量的人力物力,对高效率的猕猴桃采摘机器人的研究有着重要的意义。针对猕猴桃的种植方式及环境因素,文章采用四轮独立控制进行转向,液压缸直接控制升降对猕猴桃采摘机器人移动平台进行了设计。应用ADAMS软件对设计完成的移动平台进行了运动学仿真,结果表明设计完成的移动平台结构无论在空载还是满载情况下均能够满足平动及转动工作状态下的可靠性和平稳性要求。

In view of the large amount of manpower and material resources required for the kiwifruit picking season,it is of great significance to study the efficient kiwifruit picking robot.According to the planting method and environmental factors of kiwifruit,this paper adopts four-wheel independent control for steering,and the hydraulic cylinder directly controls the lifting to design the mobile platform of kiwifruit picking robot.The ADAMS software was used to simulate the kinematics of the designed mobile platform.The results show that the designed mobile platform structure can meet the reliability and stability requirements of the translation and rotation working conditions no matter it is loaded or not.