摘要
为了强化油茶果采摘机器人工作的稳定性,以自行研制油茶果采摘机器人为研究对象,通过对采摘机械臂结构进行分析,综合运用D-H表示法和圆柱坐标表示法建立机械臂数学模型,应用MatLab求解以该模型为基础建立的机械臂正运动学方程,仿真得到油茶果采摘机械臂工作空间。
In order to strengthen the working stability of camellia fruit picking robot , the research established the mathe-matical model of the mechanical arm of camellia fruit picking robot by using a combination of D -H notation and cylindri-cal coordinates representation ,which was developed by ourselves ,the picking robot arm structure was also analyzed .Fur-ther more , forward kinematics equation of mechanical arm was solved by MATLAB ,which was based on this model , thus simulation workspace of camellia fruit picking manipulator was obtained .
出处
《农机化研究》
北大核心
2015年第3期46-49,共4页
Journal of Agricultural Mechanization Research
基金
公益性行业(林业)科研专项(201104090)
湖南省科学技术厅科研条件创新专项(2012TT2048)
中南林业科技大学开放项目(KFXM2012029)
关键词
机械臂结构
运动学正解
仿真
油菜果
mechanical arm structure
forward kinematics
simulation
camellia frruit
