基于CAD/CAE技术的采摘机器人结构设计与仿真

Structure Design and Simulation of Picking Robot Based on CAD/CAE Technology

针对采摘机器人结构研发困难的问题,基于CAD/CAE技术对采摘机器人进行结构设计和仿真试验。所设计的采摘机器人主要组成包括控制系统、智能系统、执行机构、驱动传动装置及检测系统等。为了保证机器人的结构性能和几何合理性,针对机械臂和末端执行器进行了结构参数优化,并确定了末端执行器的控制模型。为了验证采摘机器人的操作性能,采用MatLab软件对其进行运动学正解试验测试,结果表明:机器人结构设计合理,能够满足采摘精度要求。

Aiming at the problem of research and development of the picking robot structure,the structure design and simulation test of the picking robot based on CAD/CAE technology were carried out.The picking robot was constituted of control system,intelligent system,actuator,drive transmission device and detection system.In order to ensure the structural performance and geometric rationality of the picking robot,the structural parameters of the manipulator and the end effector was optimized,and the control model o the end effector was determined.To verify the operation performance of the picking robot,the forward kinematics test was carried out by using the Matlab software.The test results show that the robot structure is reasonable and its precision could meet the requirement of the picking robot precision.