农机化研究2018，Vol.40Issue(12)：264-268,5.
基于CAM/CAE的采摘机器人运动轨迹控制研究
Research on the Trajectory Control of the Picking Robot Based on CAM/CAE
摘要
Abstract
In order to adapt to the modern agricultural machinery development for the direction in refinement and intelli -gent,more accurately grasping the real-time motion rules of the picking robot in the process of the operating,and impro-ving the operational efficiency of picking robot,taking the robotic arm of the picking robot with 6 degrees of freedom as the object of the study,the 3D model were established by using the theoretical model which were combined by the me-chanical kinematic and the dynamic on the basis of understanding the structure and working principle of the picking robot. Then The optimization of the whole arm structure and the hardware and software of the control system,the kinematics cal-culation algorithm of the arm and the control requirements of the key parameters,etc.,are simulated and verified by the CAM/CAE analysis tool,the test shows that by adjusting the relationship between moving parts and work environment, and realizing the trajectory tracking control of picking robot arm,the motion position error range of the arm body part of the implementation are controlled within 10%,which not only verify the feasibility of modeling based on the CAM /CAE theory, but also can meet the autonomous robot picking control requirements, the control study can provide some reference ideas and promotion value for research and improvement of other picking robot and other related components.关键词
采摘机器人/精细化/位置误差/CAM/CAEKey words
picking robot/refinement/the position error/CAM/CAE分类
农业科技引用本文复制引用
郑东梅,王庆喜..基于CAM/CAE的采摘机器人运动轨迹控制研究[J].农机化研究,2018,40(12):264-268,5.基金项目
榆林市科技产学研合作项目(2016CXY-24-2) （2016CXY-24-2）
