摘要
猕猴桃的采摘作业是猕猴桃生产业中的一个重要环节。目前,采摘作业主要以人工采摘为主,存在耗时长、工作强度大以及人力成本高等缺点。因此,研究智能、高效的猕猴桃采摘机器人有助于将人从繁重的农业生产中解放出来,提高生产效率。针对棚架式猕猴桃栽培方法和采摘机器人的作业特点,初步建立了基于4自由度的猕猴桃采摘机器人的运动学模型和动力学模型,并以降低能耗为目的进行了采摘轨迹规划。
Kiwifruit is one of the main product industries in China’s fruit production industry,and its orchard area and output rank first in the world.The picking of kiwifruit is an important part of the kiwifruit production industry.The current picking operation method is mainly based on manual picking,which has the disadvantages of time-consuming,high work intensity and high labor cost.Therefore,research on intelligent and efficient kiwifruit picking robots will help liberate people from heavy agricultural production and improve production efficiency.Aiming at the scaffolding kiwi fruit cultivation method and the operating characteristics of the picking robot.This paper preliminarily establishes the kinematics model and dynamics model of the kiwi fruit picking robot based on 4 degrees of freedom.The picking trajectory was planned for the purpose of reducing energy consumption.
作者
冯柯茹
FENG Keru(Dazhou Vocational and Technical College,Dazhou 635001)
出处
《现代制造技术与装备》
2021年第6期69-71,81,共4页
Modern Manufacturing Technology and Equipment
关键词
4自由度
采摘机器人
运动学模型
动力学模型
轨迹规划
4-degrees of freedom
picking robot
kinematics model
dynamic model
trajectory planning
