七自由度挤奶机器人运动特性分析

Analysis of Motion Characteristics of 7-DOF Milking Robot

为解决当前挤奶设备智能化不足的问题,设计出一种串联式七自由度挤奶机器人.基于改进D-H法,对机器人进行正运动学分析.在Matlab中,构建并验证挤奶机器人的连杆模型,采用蒙特卡洛法对机器人工作空间模拟仿真,得到机器人的工作空间范围;基于五次多项式插值法对机器人轨迹进行规划仿真,得到机器人各关节运动特性曲线.依据研究方法制作实验样机,并进行套杯实验,可得套杯成功率94.82%,套杯成功平均单次耗时5.46秒,比人工挤奶工作效率提高90%以上.实验结果表明,所设计的挤奶机器人满足实际工作需求,为后续挤奶机器人的研发升级提供参考.

In order to solve the problem of insufficient intelligence of milking equipment,a series 7-DOF milking robot was designed.Based on the improved D-H method,the forward kinematics of the robot was analyzed.In MATLAB,the connecting rod model of the milking robot was constructed and verified.Monte Carlo method was used to simulate the working space of the robot,and the working space range of the robot was obtained.The trajectory of the robot is planned and simulated based on quantic polynomial interpolation method,and the motion characteristic curves of each joint of the robot are obtained.The experimental prototype was made and the cup setting experiment was carried out.The success rate of cup setting was 94.82%,and the average time of cup setting was 5.46 seconds,which was more than 90%higher than the work efficiency of manual milking.The simulation and experimental results show that the designed milking robot can meet the actual work requirements,and provide reference for the subsequent research and development of milking robot upgrade.