基于运动力学模型的采摘机械臂结构设计

Structural Design of Picking Robot Arm Based on Kinematic Mechanics Model

以果蔬采摘机械臂为研究对象,设计一种能够在特定环境中使用的4自由度果蔬采摘机器臂,利用拉格朗日法建立机械臂运动学分析模型,并进行数值仿真。结果表明:机械臂运动过程平稳,能够满足采摘过程的精确控制和使用,各关节的最大力矩值均在合理设计范围内,能够满足果蔬采摘过程的作业需求。

Taking the fruit and vegetable picking manipulator as the research object,this paper designs a 4-DOF fruit and vegetable picking manipulator that can be used in a specific environment,establishes the kinematics analysis model of the manipulator by Lagrange method,and carries out numerical simulation.The results show that the movement process of the manipulator is stable,which can meet the accurate control and use of the picking process,and the maximum torque of each joint is within the reasonable design range,which can meet the operation requirements of the fruit and vegetable picking process.