农机化研究Issue(8)：14-18,5.
一种关节型摆盘机械手的运动学分析
Design and Kinematics Analysis for a 4-DOF Manipualtor
马静龙 1冯江 2张敏 1于立宝1
作者信息
- 1. 东北农业大学 工程学院，哈尔滨 150030
- 2. 东北农业大学 电气与信息学院，哈尔滨 150030
- 折叠
摘要
Abstract
In order to solve the problems that the rice seedling-growing tray placing operation is still mainly based on manual , during the season of planting , requiring a lot of labor , high labor intensity , low efficiency , a end-effector of manipulator with 4-DOF is designed , and the selection of the manipulator is decided .The kinematics model of the ma-nipulator is established by H-H method , and then obverse and inverse kinematics calculates were obtained by MATLAB depending on its excellent capability for symbolic math problems .The trajectory of manipulator arms could be obtained by the result of obverse kinematics when manipulator worked , and also torsional angles could be obtained by the result of in-verse kinematics when manipulator arrived on certain pose .关键词
机械手/秧盘摆放/运动学分析Key words
manipulator/seedling-growing tray placing/kinematics analysis分类
信息技术与安全科学引用本文复制引用
马静龙,冯江,张敏,于立宝..一种关节型摆盘机械手的运动学分析[J].农机化研究,2014,(8):14-18,5.
