一种柔性采摘机械臂的运动学分析与仿真

Kinematics analysis and simulation of a flexible picking robot arm

针对刚性机械臂在果蔬采摘作业中的不足,设计了一种结构简单、运动灵活的柔性采摘机械臂。首先,基于等圆弧假设建立了柔性采摘机械臂的运动学模型,对其进行了从关节空间到操作空间和从驱动空间到关节空间的正、逆运动学分析以及各柔性关节之间的解耦分析。然后,利用MATLAB软件对柔性采摘机械臂的运动学模型进行了数值计算,同时利用ADAMS软件建立柔性采摘机械臂的虚拟样机模型,选用与理论分析相同的工况开展运动学仿真,验证了理论分析结果的准确性。仿真结果表明,该柔性采摘机械臂可实现灵活、协调运动。研究结果可为后续柔性机械臂的运动控制提供依据。

Aiming at the shortcomings of rigid robot arm in fruit and vegetable picking,a flexible picking robot arm with simple structure and flexible movement was designed.Firstly,the kinematics model of the flexible picking robot arm was established based on the equal arc hypothesis,and the forward and inverse kinematics analysis from joint space to operation space and from driving space to joint space was carried out,as well as the decoupling analysis between the flexible joints.Then,the kinematics models of the flexible picking robot arm were numerically calculated by using MATLAB software,and the virtual prototype model of the flexible picking robot arm was established by ADAMS software.The kinematics simulation was carried out under the same working conditions as the theoretical analysis,and the accuracy of the theoretical analysis results was verified.The simulation results showed that the flexible picking robot arm could move flexibly and coordinatedly.The research results can provide a basis for the subsequent motion control of flexible robot arms.