绿篱修剪机械手的运动学分析与MATLAB仿真

Kinematic analysis and MATLAB simulation of the hedge trimmer manipulator

针对目前绿化养护行业自动化程度低的情况,提出了一种可以对绿篱进行多种造型修剪的机械手结构。通过Pro/E三维设计软件绘制了绿修剪机械手的三维模型,根据改进的D-H矩阵理论建立了机械手的连杆坐标系,完成了机械手正、逆运动学的求解计算,并借助MATLAB软件的RoboticsToolbox工具箱对正、逆运动学分析进行仿真验证。此外,利用基于随机抽样的蒙特卡罗方法对机械手的工作空间进行了仿真分析。仿真结果证实了运动学分析的正确性,同时也显示工作空间没有空腔和空洞,说明机械手机构的设计合理可行,可以满足绿篱修剪养护的作业需求,也为后续相关研究提供了理论支撑。

A manipulator mechanism which can trim the hedge in multiple shapes has been designed to deal with the low-level automation in the process of virescence maintenance.The 3-D model of the hedge trimming manipulator has been drawn through Pro/E 3-D design software.Based on modified D-H matrix theory,the linkage coordinate system has been established,and the forward and inverse kinematics equations of the hedge trimming manipulator were deduced.Furthermore,the results of the forward and inverse analysis were verified via the RoboticsToolbox in MATLAB.In addition,the simulation analysis of the manipulator's workspace was carried out by means of Monte Carlo method.The simulation results verify the correctness of the kinematics analysis,and indicate that there is no cavityor void in workspace,which testify that the design of manipulator mechanism is reasonable and feasible,and it can also satisfy the needs of hedge trimming maintenance.Meanwhile,it provides theoretical support for follow-up researches.