工程设计学报2024，Vol.31Issue(2)：230-237,8.DOI:10.3785/j.issn.1006-754X.2024.03.135
一种柔性采摘机械臂的运动学分析与仿真
Kinematics analysis and simulation of a flexible picking robot arm
摘要
Abstract
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.关键词
柔性采摘机械臂/运动学模型/仿真分析Key words
flexible picking robot arm/kinematics model/simulation analysis分类
机械制造引用本文复制引用
张伟涛,赵栋杰,王禄,包新棉,黄保赛..一种柔性采摘机械臂的运动学分析与仿真[J].工程设计学报,2024,31(2):230-237,8.基金项目
山东省重点研发计划资助项目(2017NC212010) （2017NC212010）
山东省高校科研计划项目(J18KB009) （J18KB009）
