【摘要】 机械手作为机器人的重要组成部分,具有一定的研究价值。为此,基于人机协作思想,对果品采摘机械手的结构及相关参数进行了设计,并对其进行了详细的运动学分析,利用代数法对机械手逆运动学进行求解,得到了机械手的运动学方程,为实现机械手的控制奠定了基础。最后,通过机械系统仿真软件ADAMS进行仿真分析,验证了运动学方程的有效性。更多还原

【Abstract】 Manipulator as the important part of the robot has certain research value. Based on the idea of man-machine cooperation ,The structure and correlation parameter of the picking manipulator are designed in this paper. Through detailed analysis,algebra method is used for solving inverse kinematics of the manipulator and kinematics equations are obtained,whereupon mathematic formulas are provided for manipulator control. The effectiveness of kinematics equation is confirmed in ADAMS.更多还原