摘要
采用D-H法建立了八自由度农业机器人机械臂连杆坐标系,得到以关节变量为输入的正运动学方程。在正运动学方程的基础上,根据农业机器人实际工况以及机械臂自身的结构特点,设定了约束条件,进行了逆运动学分析,得到了各关节变量的解析表达式,并对正运动学与逆运动学计算结果进行了相互验证。采用ADAMS仿真软件建立了机械臂的仿真模型,进行了运动学仿真,仿真结果与理论计算相符。搭建实验平台,实验验证了正运动学与逆运动学求解结果的正确性。
Agricultural robot technology can reflect the level of a country’s agricultural mechanization, and the level of agricultural mechanization is an important indicator of a country’s level of agricultural modernization. At present, the agricultural robots in China have made great progress. Taking an agricultural robot as the research object, and the robot kinematics method was used to analyze the relationship between various joints, including the analysis of positive kinematics and inverse kinematics. Firstly, three-dimensional software was used to design the structure. According to the structural characteristics of the robotic arm, the D H method was used to establish the link coordinate system. The relationship between two adjacent links was represented by a homogeneous transformation matrix, and the positive kinematics equations with joint variables as input were obtained. Based on the positive equation of motion, according to the structural characteristics of the robot arm itself and the actual working conditions, the constraints were set, and inverse kinematics analysis was performed by using the inverse transformation method. The analytical expressions of the joint variables were obtained. The results of the calculations of positive kinematics and inverse kinematics were mutually verified. The simulation model of the robotic arm was established by using Adams simulation software. The kinematics simulation was performed. The simulation results were in accordance with the theoretical calculations, and the correctness of the solution results of positive kinematics and inverse kinematics was verified. The research results provided a theoretical basis for follow-up trajectory planning of agricultural robot control, which laid a foundation for the intelligent operation of agricultural robots.
作者
覃艳明
赵静一
仝少帅
王建军
QIN Yanming;ZHAO Jingyi;TONG Shaoshuai;WANG Jianjun(College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2019年第1期400-405,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(51675461)
关键词
串联机器人
八自由度
机械臂
运动学
仿真
tandem robot
eight-degree-of-freedom
robotic arm
kinematics
simulation
作者简介
覃艳明(1979—),女,博士生,主要从事多自由度机器人机构和多液压系统协调控制研究,E-mail:qinyanminghb@163.com;通信作者:赵静一(1957-),男,教授,博士生导师,主要从事流体传动与控制系统设计及可靠性研究,E-mail:zjy@ysu.edu.cn
