摘要
机械臂在生产过程中的精度达到要求是机械臂能够代替人类从事繁重、危险工作的前提。相比于传统的机械臂,机器视觉的增加使其具有自主感知、决策和执行等能力,智能修剪机的智能小车底盘扩大了传统机械臂的工作空间。文章对于智能树木修剪机整车及多自由度机械臂进行分析,首先以STM32F103开发板为开发平台构建嵌入式硬件控制系统,包括电源模块、电机驱动模块、蓝牙串口通信模块、摄像头模块等。利用三维软件Solidworks对智能树木修剪机进行建模,并使用仿真软件ADAMS进行动力学仿真,并对其进行分析,使机械臂的运动轨迹达到合理的要求。
The accuracy of the manipulator in the production process is the premise that the manipulator can replace human beings in heavy and dangerous work.Compared with the traditional manipulator,the increase of machine vision makes it have the ability of autonomous perception,decision-making and execution.The intelligent car chassis of intelligent trimmer increases the workspace of the traditional manipulator.In this paper,the intelligent tree trimmer vehicle and multi degree of freedom manipulator are analyzed.Firstly,the embedded hardware control system is built based on STM32F103 develop-ment board,including power module,motor drive module,Bluetooth serial communication module,camera module and so on.The 3D Software Solidworks is used to model the intelligent tree trimmer,and the simulation software ADAMS is used for dynamic simulation and analysis,so as to make the movement track of the manipulator meet the reasonable requirements.
作者
王鹏
万志远
李锋
WANG Peng;WAN Zhiyuan;LI Feng(The Academy of Mechanical Engineering,Shandong Huayu University of Engineering,Shandong Dezhou 253034)
出处
《汽车实用技术》
2021年第14期117-119,共3页
Automobile Applied Technology
基金
2020年山东省大学生创新创业训练计划项目:智能树木修剪机设计(S202013857017)。
