六自由度采摘机械臂采摘姿态规划研究

为了解决采摘机器人末端执行器无法根据果实位置自动调整采摘姿态的问题,提出了一种第五关节分离的姿态规划方法。根据机械臂的结构形式,在机械臂的第五关节进行分离后形成机械臂本体和末端执行器部分,在自定义的采摘平面内将末端执行器移动到果实处形成果实采摘圆,根据末端执行器部分第五关节边界曲线与果实采摘圆交点个数对末端执行器的采摘方式进行了分类,结合各种采摘方式的特点求解了末端执行器合适的采摘姿态。以MATLAB GUI为仿真平台,对采摘姿态进行了仿真,并在实验室内进行了采摘实验,结果表明:该方法能够为机械臂规划出合适可行的采摘姿态,为机械臂采摘提供了理论基础。

Research on the Attitude Planning of Six Degrees of Freedom Picking Manipulator

In order to solve the problem that the picking robot end effector can not adjust the picking attitude automatically according to the fruit position, a posture planning method of the fifth joint separation has been proposed. According to the structure of the manipulator, the robot arm body and the end effector part were formed when the fifth joint of the manipulator separated and the end effector was moved into the fruit to form the fruit picking circle in the custom picking plane. The number of intersections of the fifth joint boundary curve and the fruit picking circle was used to classify the picking methods of the end effector and then the appropriate picking attitude of the end effector was solved according to the characteristics of various picking methods. The picking attitude was simulated on MATLAB and picking experiments were done in the lab. The results have demonstrated that the proposed method can plan a suitable picking attitude for the manipulator, which provides a theoretical basis for manipulator picking.