摘要
针对番茄果实自动采摘的精准控制问题,深入践行科技强农理念,以关节坐标类型机器人为依据,设计二轴采摘机械臂并对其结构进行简化,采用齐次坐标变换方法对简化的物理模型进行运动学计算分析,通过ADAMS建立运动学仿真模型获取采摘关节仿真运动曲线。利用拉格朗日方程构建手臂的动能,在Matlab的Simulink进行虚拟建模验证、仿真研究,获取运动所需关节力矩曲线。
To address precise control issues in automatic tomato picking,with strengthening agriculture through science and technology concept deeply practiced.Based on robot with joint coordinate systems,a two-axis picking manipulator was designed and its structure was simplified.Simplified physical model was analyzed by using homogeneous coordinate transformation for kinematic calculations.A kinematic simulation model was established in ADAMS to obtain simulation motion curves of picking joint.Kinetic energy of arm was constructed using Lagrange equation,and virtual modeling verification and simulation research were carried out in Matlab Simulink to obtain joint torque curve needed for movement.
作者
卿笛
QING Di(College of Electromechanical Engineering,Shaanxi A&F Technology University,Xianyang Shaanxi 712100,China)
出处
《农业工程》
2025年第9期99-103,共5页
AGRICULTURAL ENGINEERING
基金
杨凌职业技术学院2024年院内基金项目(JG24037)。
关键词
番茄
采摘机械臂
运动学
动力学
仿真
tomato
picking manipulator
kinematics
dynamics
simulation
作者简介
卿笛,硕士,讲师,主要从事工业机器人和电气自动化技术研究,E-mail:804348624@qq.com。
