死鸡捡拾机械臂设计及运动学分析

Design and kinematics analysis of robotic arm used for picking up dead chickens

根据当前我国死亡肉鸡捡拾劳动强度大,人禽共患病的风险高等问题,设计一款五自由度的机械臂以实现死亡肉鸡的无人化捡拾工作。该机械臂各关节主要由电机驱动,选择单片机对各个关节电机进行控制,绘制其三维模型,同时建立该机械臂的D-H方程,并利用Matlab中的机器人工具箱建立其仿真模型,利用七次多项式插值对其运动轨迹进行仿真,并利用蒙特卡洛法对工作空间进行仿真分析。结果表明:该机械臂的工作空间在水平方向为半径980 mm的圆,可覆盖死鸡捡拾位置,可满足预设工作需求,同时根据仿真轨迹以及各关节速度加速度图可知机械臂各关节运动平稳,为之后控制系统的设计奠定一定基础。

According to the problems of high labor intensity and high risk of human-fowl co-infection in China,a five-degree-of-freedom manipulator is designed to realize the unmanned picking of dead broilers.Each joint of the manipulator is mainly driven by the motor.The single chip microcomputer is selected to control the motor of each joint,and its three-dimensional model is plotted.At the same time,the D-H equation of the manipulator is established,and the simulation model is established by using the robot toolbox in Matlab.The motion trajectory is simulated by using the seven-order polynomial interpolation,and the Monte Carlo method is used to simulate and analyze the workspace.The results show that the workspace of the manipulator is a circle with a radius of 980 mm in the horizontal direction,which can cover the dead chicken picking position and meet the preset working requirements.At the same time,according to the simulation trajectory and the velocity acceleration diagram of each joint,the motion of the manipulator is stable,which lays a foundation for the design of the control system.