摘要
分析了目前国内水果采摘机器人的结构特点,提出了一种球形水果采摘机器人的总体结构方案,并采用虚拟样机技术重点设计了机器人的行走机构和末端执行器。在UG环境下建立了机构的虚拟样机模型,然后通过UG和ADAMS良好的接口直接导入ADAMS,实现了机器人机构的运动学性能仿真分析。该机器人的主要特点是能够适应恶劣的地面环境、对果实伤害小、采摘效率高,能够为进一步研究开发实用型水果采摘机器人提供基础。
This paper analyzes the structural characteristics of the domestic fruit picking robot and then proposes the overall structure of the spherical fruit picking robot.The walking mechanism and end effector of this new kind of robot was designed by virtual prototyping technology.The virtual prototype of it was established under the UG software,and then exporting into ADAMS directly through the well interface between UG ＆ ADAMS.The kinematics simulation and analysis of the virtual prototype model was accomplished.The main features of this machine is its ability to adapt to the harsh environment of the ground,small damage to the fruit picking,high efficiency,and it can also provide a basis for further research and development of the practical fruit picking robot.
出处
《现代科学仪器》
2013年第2期113-116,共4页
Modern Scientific Instruments
关键词
机器人
虚拟样机
结构设计
Robot
Virtual Prototyping
Structure design
