摘要
分析了猕猴桃棚架式生长环境,设计了一种在棚架栽培模式下工作的猕猴桃采摘机械臂;同时,并以猕猴桃采摘机械臂为研究对象,采用D-H法建立各杆件坐标系,应用齐次变换矩阵建立运动学方程。在Mat Lab的环境下,使用Robotics工具箱建立该机械臂的数学模型,并对其进行工作空间仿真及轨迹规划。实验数据表明:所建模型可以实现猕猴桃自动化采摘;仿真函数可以准确、有效地获得机械臂的运动参数和运动轨迹,为进一步的研究提供了重要的理论依据。
In this paper ,we analyzed the special growing environment, according which we designed the kiwi fruit picking manipulator working in the environment of special cultivation pattern .We take the kiwi fruit picking manipulator as the research object and use the D-H method to build the coordinate of the connecting rods ,at last the kinematics e-quations is built by using homogeneous transfer matrix .The Robotics Toolbox in MATLAB is used to build the mathemati-cal model by which kinematics simulation and trajectory planning are carried out .The experimental data indicate that the model we build can acquire the motion parameters and the movement .The research provides the theoretical foundation of the further research .
出处
《农机化研究》
北大核心
2015年第12期227-231,共5页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金项目(61175099)
