| 剪枝机器人的虚拟样机建模与运动学分析 |
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| 引用本文： | 陆叶,杨云兰.剪枝机器人的虚拟样机建模与运动学分析[J].机械与电子,2015,0(1):73-75. |
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| 作者姓名： | 陆叶 杨云兰 |
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| 作者单位： | (茂名职业技术学院机电信息系,广东 茂名 525000) |
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| 基金项目： | 茂名市科技计划资助项目(茂科字[2012]51号);茂名市科技计划资助项目(茂科字[2014]11号);茂名职业技术学院科研项目(茂职院[2013]23号) |
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| 摘 要： | 为了解决园林果树枝条修剪作业的效率低和成本高等问题,提出剪枝机器人的研究,首先利用UG软件对剪枝机器人建立三维模型,接着用改进的D-H法建立运动学的数学模型,由此推导出运动学方程,进而得到机器人的结构参数。为验证结构设计和运动学方案的合理性,由Matlab求出机器人的工作空间,在ADAMS 中建立虚拟样机模型,进行了机器人正逆运动学仿真分析,采集数据并输出运动曲线,为控制系统和轨迹规划的设计,以及物理样机的制造提供了理论依据。
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| 关 键 词： | 剪枝机器人 虚拟样机 建模 运动学 |
Kinematical Analysis and Virtual Prototype Modeling of Pruning Robot |
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| LU Ye;YANG Yunlan.Kinematical Analysis and Virtual Prototype Modeling of Pruning Robot[J].Machinery & Electronics,2015,0(1):73-75. |
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| Authors: | LU Ye;YANG Yunlan |
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| Affiliation: | (Department of Electromechanical Information,Maoming Polytechnic College,Maoming 525000,China) |
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| Abstract: | In this paper,pruning robot is studied which can solve the problems of low efficiency,high cost and so on during the pruning branches.At first the solid model of the pruning robot is built by UG software.Then a mathematical model is created by the improved D-H method to deduce kinematical equations and calculate the structural parameters of the robot.In order to verify the rationality of the structural design and kinematical model,the workspaces of the robot are obtained by Matlab.Furthermore a virtual prototype model is created to by ADAMS,in which the simulating analysis of forward and inverse kinematics of the robot is done as well as the motion data and output curves. |
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| Keywords: | pruning robot virtual prototype modeling kinematics |
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