一种柔性采摘机械臂的运动学分析与仿真OA北大核心CSTPCD

Aiming at the shortcomings of rigid robot arm in fruit and vegetable picking,a flexible picking robot arm with simple structure and flexible movement was designed.Firstly,the kinematics model of the flexible picking robot arm was established based on the equal arc hypothesis,and the forward and inverse kinematics analysis from joint space to operation space and from driving space to joint space was carried out,as well as the decoupling analysis between the flexible joints.Then,the kinematics models of the flexible picking robot arm were numerically calculated by using MATLAB software,and the virtual prototype model of the flexible picking robot arm was established by ADAMS software.The kinematics simulation was carried out under the same working conditions as the theoretical analysis,and the accuracy of the theoretical analysis results was verified.The simulation results showed that the flexible picking robot arm could move flexibly and coordinatedly.The research results can provide a basis for the subsequent motion control of flexible robot arms.