数字国画产品设计在采摘机器人动作仿真中的应用

Application of Product Design in Digital Traditional Chinese Painting in Motion Simulation of Picking Robot

首先,介绍了数字国画的产品设计,并将其应用在采摘机器人动作仿真中;然后,分析了采摘机器人机械臂运动学和动力学模型,对机械臂的驱动控制进行了深入研究;最后,基于Matlab对采摘机器人动作“掰”进行了仿真分析。结果表明:随着姿态角β或γ的增大,苹果与果枝连接处产生的力矩都会发生变化;而使用动作“掰”采摘苹果时,改变姿态角γ更容易采摘到苹果。

It first introduces the product design of digital traditional Chinese painting,and applies it to the action simulation of the picking robot.Then it analyzes the kinematics and dynamics model of the picking robot's manipulator,and conducts in-depth research on the driving control of the manipulator.Finally,based on Matlab,it simulates and analyzes the action"breaking"of the picking robot.The simulation results show that:βorγthe torque generated at the connection between the apple and the fruit branch will change when the apple is bigger.When the apple is picked with the action of"breaking",the posture angle will changeγ,which is easier to pick apples.