基于SCARA的柔性葡萄采摘机械臂设计与试验

Design and Experiment of SCARA-based Flexible Grape Picking Robot Arm

针对现今葡萄种植环境狭小且复杂、常见关节型机械臂空间运动灵活度较小和避障能力较弱等问题,为了适应葡萄植株下层枝叶较少、障碍物较少,上层枝叶较多、障碍物较多的特点,设计并开发一款基于SCARA的柔性葡萄采摘机械臂,其底部为SCARA机械臂,上部为柔性机械臂部分;同时,设计了SCARA与柔性机械臂的协调运动控制系统。通过分析机械臂的机械结构和工作原理确定机械臂的末端空间位置和机械臂的运动学关系,利用MatLab绘制其工作空间,并绘制柔性机械臂在随机两个空间点运动的轨迹、速度、加速度图,从而实现SCARA机械臂与柔性机械臂的运动控制。

To address the problems of today's small grape growing environment,complex environment and less flexibility of space movement and weaker obstacle avoidance ability of common articulated robotic arms.Also to adapt to the characteristics of grape plants with fewer branches,fewer obstacles in the lower layer and more branches,more obstacles in the upper layer,design and manufacture a flexible robotic arm based on SCARA robotic arm with SCARA robotic arm in the bottom and flexible robotic arm part.Also develop its human-computer interaction system.Determine the end space position of the robot arm and the kinematic relationship of the robot arm by analyzing the mechanical structure and working principle of the robot arm,and draw its working space by using MATLAB.At the same time,the upper computer system and the lower computer system cooperate with each other to realize the position motion control of SCARA robotic arm and flexible robotic arm.