农机化研究Issue(12)：227-231,5.
基于 MatLab 的猕猴桃采摘机械臂运动学仿真研究
The Research on Kinematics Simulation of the Kiwi Fruit Picking Manipulator Based on MatLab
摘要
Abstract
In this paper ,we analyzed the special growing environment, according which we designed the kiwi fruit picking manipulator working in the environment of special cultivation pattern .We take the kiwi fruit picking manipulator as the research object and use the D-H method to build the coordinate of the connecting rods ,at last the kinematics e-quations is built by using homogeneous transfer matrix .The Robotics Toolbox in MATLAB is used to build the mathemati-cal model by which kinematics simulation and trajectory planning are carried out .The experimental data indicate that the model we build can acquire the motion parameters and the movement .The research provides the theoretical foundation of the further research .关键词
猕猴桃/机械臂/运动学仿真/MatLabKey words
kiwi fruit/manipulator/kinematics simulation/MatLab分类
农业科技引用本文复制引用
李桢,王滨,陈子啸,崔永杰..基于 MatLab 的猕猴桃采摘机械臂运动学仿真研究[J].农机化研究,2015,(12):227-231,5.基金项目
国家自然科学基金项目 （）
