4自由度番茄采摘机软体机械臂运动学分析

Kinematics Analysis of the Soft Mechanical Arm of a 4-DOF Tomato Picker

综合考虑番茄采摘机软体机械臂在复杂环境中的使用需求,以此来确定番茄采摘机械的4自由度模型。对番茄采摘软体机械臂进行正运动和逆运动分析,同时确定机械臂结构、关节长度、自由度选择等参数,并绘制出三维模型,从而为下一步选择控制系统硬件及软件编程奠定基础。

Considering the application requirement of soft mechanical arm of tomato picker in complex environment,the 4-DOF model of tomato picker was determined.Forward motion and inverse motion analysis of the tomato picking soft mechanical arm were carried out to determine the structure of the mechanical arm,joint length,DOF selection and other parameters,and to draw a three-dimensional model,which laid a foundation for the next selection of hardware and software programming of the control system.