农机使用与维修Issue(9)：35-39,5.DOI:10.14031/j.cnki.njwx.2025.09.008
基于MATLAB果蔬搬运机器人运动学分析
Kinematic Analysis of Fruit and Vegetable Transportation Robot Based on MATLAB
潘振钊1
作者信息
- 1. 连云港职业技术学院,江苏连云港 222006
- 折叠
摘要
Abstract
In order to solve the problems of low efficiency and large loss caused by manual labour in traditional agricul-tural fruit and vegetable sorting,this study aims to design a six-degree-of-freedom robotic arm suitable for handling 15 kg heavy-duty agricultural products to promote the upgrading of agricultural automation.A kinematic model of the manipulator based on the improved D-H parameter method was proposed,and the inverse solution algorithm was de-signed according to the pose separation method.The inverse solution algorithm programme was programmed into MAT-LAB to obtain more considerable forward and inverse solution coordinate data.SolidWorks is used to construct the modu-lar mechanical structure,and the multi-axis cooperative motion simulation is carried out through the MATLAB robot toolbox,and the experimental results show that the average time taken by the simulation verification inverse algorithm to solve the 8 groups of joint angles is only 12.3 ms,and the consistency error of the multi-platform model is less than 4.7％.This provides a reusable methodological framework for the rapid deployment of intelligent equipment and lays a foundation for subsequent trajectory planning and its control.关键词
包装机器人/MATLAB/结构设计/运动学分析Key words
packaging robot/MATLAB/structural design/path planning分类
矿业与冶金引用本文复制引用
潘振钊..基于MATLAB果蔬搬运机器人运动学分析[J].农机使用与维修,2025,(9):35-39,5.
