冯青春,纪超,张俊雄,李伟.黄瓜采摘机械臂结构优化与运动分析[J].农业机械学报,2010,41(Z1):244-248. .Optimization Design and Kinematic Analysis of Cucumber-harvesting-robot Manipulator[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(Z1):244-248.
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黄瓜采摘机械臂结构优化与运动分析 [下载全文] |
Optimization Design and Kinematic Analysis of Cucumber-harvesting-robot Manipulator [Download Pdf][in English] |
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DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence] |
中文关键词: 黄瓜 采摘机器人 机械臂 参数优化 运动分析 |
基金项目: |
冯青春 纪超 张俊雄 李伟 |
中国农业大学 |
中文摘要:黄瓜采摘机器人在非结构环境中工作时,其机械臂的结构特点与运动精度将直接决定机器人作业范围和采摘成功率。针对黄瓜特定的栽培模式,结合机械臂工作空间及结构长度指标,运用参数优化法,对采摘机械臂构型和结构参数进行了优化设计。建立了机械臂运动D-H模型,实现由关节空间向笛卡尔空间的正逆变换,并确定了机械臂速度雅可比矩阵;应用三次多项式插值法,建立了机械臂关节空间运动规划模型;应用Matlab平台对优化参数进行仿真。结果表明,机械臂实际采摘范围可达到目标工作区域90.5%以上,关节位移变化曲线光滑,运动平稳。 |
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Abstract:As the cucumber harvesting robot works in the non-structure condition, the structure and movement of the manipulator directly determines operating space and picking success. According to the specific cucumber cultivation, the manipulator was designed and its structure parameters were optimized based on the method of the parameters optimization. With the D-H kinematic model, the coordinate transformation was achieved between the Articulation and the Cartesian space, and the Jacobian matrix of velocity was derived. Besides, the model was built in the Articulation space for planning path by means of cubic polynomial interpolation. All the parameters optimized was simulated with Matlab, and the simulation results showed that the harvesting manipulator could reach the positions of 90.5% of the cucumbers in the workspace, moreover, it could move smoothly. |
Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.
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