【摘要】 机器人执行部件的位置误差(或精度),是反映机器人性能的一个重要指标。采摘器则是荔枝采摘机器人的关键执行部件。根据机器人关节旋转、移动变换的特点建立了基于齐次变换矩阵的、准确的机器人位姿误差模型,并在此基础上建立了荔枝采摘机器人采摘器的位置误差表达式。基于该误差表达式通过仿真分析了采摘器的位置误差特征。为采摘机器人和农业采摘机械执行机构的误差分析和进一步的误差补偿提供了理论依据。更多还原

【Abstract】 Positional error of manipulators is an important indicator for robot performance.Fruit picker is a key manipulator for litchi harvest robot.According to rotationplasty and move transforming characteristics of robot joints,this paper established the accurate postural and positional error model of robot,which is a homogeneous matrix.Then it established positional error expressions for fruit picker by deducing from postural and positional error model.Based on such positional error expressions,positional error characteristics of fruit picker was researched by simulating.The result will provide a theoretical basis for error analysis of harvest robot and agricultural harvesting machinery,and for error compensation.更多还原