【摘要】 对基于人机协作思想设计的智能型烟苗移栽机械手进行运动学分析,通过建立数学模型,进行正运动学和逆运动学求解,并对运动学正解和反解进行验证;利用雅克比矩阵,建立机械手各关节速度与取苗器速度的瞬间对应关系;以烟苗机械手的设计结构为出发点,建立烟苗机械手的样机模型,并在ADAMS下进行运动学仿真。仿真结果表明,烟苗机械手的运动学方程解是完全正确的。更多还原

【Abstract】 Based on man machine cooperation under the idea of intelligent design of tobacco transplanting manipulator kinematics analysis was carried out,and the corresponding mathematical model is established;and the forward kinematics and inverse kinematics solution for respectively,through the initial position on the forward and inverse kinematics solution to initial verification;using manipulator Jacobian matrix,built mechanical hand joint velocity and seedling fetching device speed moment corresponding relationship;from tobacco seedlings manipulator structure of specific design,using Pro/E established seedling manipulator prototype device model,and simulation software in ADAMS of manipulator kinematics simulation,so that the whole process of the motion object;and analyzed in the simulation process,seedling of the manipulator joint drive and the manipulator end for movement between seedlings.The simulation results show that the kinematics of manipulator kinematics equations exactly right.更多还原