【摘要】 为实现机械式采摘山楂,设计了一种五自由度的山楂采摘机构.首先设计出山楂采摘机构简图,然后利用D-H参数表示法对机构简图建立相应的运动学方程,最后通过Matlab软件拟合出相应图形验证了方程的正确性.更多还原

【Abstract】 To achieve the purpose of picking hawthorn with mechanical,a five-degree-of-freedom hawthorn fruit harvesting machine is designed.Firstly,a simpliied picture of hawthorn picking mechanism is designed.Then the corresponding kinematics equation is established by using the D-H parameter representation,and the corresponding graph is fitted out by Matlab software to verify the correctness of the equations.更多还原