农机化研究2024，Vol.46Issue(3)：14-20,29,8.
油茶果动态抓取Delta机器人正运动学特性研究
Forward Kinematics Characteristics of Camellia Fruit Dynamically Grasping Delta Robot Based on Screw Theory
摘要
Abstract
In order to meet the requirements of dynamic grasping of camellia camellia fruit,a forward kinematics equation of 3-R(SS)Delta robot was proposed based on screw theory to solve the complicated kinematic process of manipulator with traditional D-H parameter method.The structure of 3-R(SS)Delta robot is analyzed.Based on screw theory and exponential product formula,the forward kinematics of the robot was analyzed,and the pose transformation matrix of the robot was obtained.Finally,the Delta robot end-effector can accurately grab the camellia fruit moving on the conveyor belt by running the standard gate trajectory of the built Delta robot test platform.The calculated values of forward kinematics e-quation and the measured values of Delta robot test platform are compared and analyzed.The position error of the end-ef-fector position value is±0.01mm,which verifies the correctness and feasibility of the proposed method for constructing the forward kinematics equation of 3-R(SS)Delta robot.It lays a foundation for the follow-up research of trajectory planning of dynamic positioning.关键词
Delta机器人/油茶果动态抓取/旋量理论/正运动学Key words
Delta robot/camellia fruit dynamically/screw theory/forward kinematic characteristic分类
农业科技引用本文复制引用
傅雄辉,李立君,范子彦,李宇航,吕辉..油茶果动态抓取Delta机器人正运动学特性研究[J].农机化研究,2024,46(3):14-20,29,8.基金项目
湖南省科技计划重点研发项目(2021NK2023) （2021NK2023）
