苹果采摘机器人末端设计及运动仿真

Terminal Structure Design and Motion Simulation of Apple Picking Robot

苹果在我国农业生产中占有重要地位,不仅是最主要的经济果树之一,而且在产量、种植面积及出口量上均居世界第一。产量大、范围广、种植地形复杂、分布零散等因素造成了苹果采摘困难、不及时、损失大等一系列问题。为了实现苹果的时效化、无损化采摘,设计一种负压式五自由度采摘机器人,基于标准型D-H参数建模方法对机器人的正、逆运动学进行求解,并利用ADAMS软件并建立机械臂的虚拟样机,通过运动学与动力学仿真分析,最终获得末端吸口的运动位移、速度、加速度及各关节角速度、驱动力矩的变化曲线。通过分析变化曲线,验证了机器人满足工作要求,结构设计合理,运动过程平稳无振荡,同时也为后续的控制系统研究奠定了基础。

Apple occupies an important position in my country's agricultural production.It is not only one of the most important economic fruit trees,but also ranks first in the world in terms of output,planting area and export volume.Factors such as large output,wide range,complex planting terrain,and scattered distribution have caused a series of problems such as difficulty in apple picking,delay in time,and large losses.In order to realize the aging and non-destructive picking of apples,this paper designs a negative pressure five-degree-of-freedom picking robot,solves the forward and inverse kinematics of the robot based on the standard D-H parameter modeling method,and uses ADAMS software to establish a mechanical The virtual prototype of the arm,through kinematics and dynamics simulation analysis,finally obtains the movement displacement,velocity,acceleration of the end suction port,and the change curves of the angular velocity and driving torque of each joint.By analyzing the change curve,it is verified that the robot meets the working requirements,the structure design is reasonable,and the motion process is stable and free of oscillation,which also lays a foundation for the follow-up control system research.