【摘要】 为满足多样化景观绿篱修剪造型对修剪机器人工作空间、结构刚度和强度的需求，设计一种用于园林绿植的五自由度修剪机器人结构。首先采用D-H法对机器人进行建模与运动学分析，利用蒙特卡洛法得到机器人的工作空间；然后以球形绿篱为修剪目标，基于机器人有效空间体积比和速度全域性能指标，确定机器人臂架结构主要杆件的尺寸；最后对臂架结构进行有限元静力学和振动模态仿真分析。仿真结果表明：当大臂尺寸为800mm，小臂尺寸为900mm，腕臂尺寸为350mm时，该机器人垂直修剪作业范围为0～2 000mm，水平修剪作业范围为-1 300～1 300mm，工作空间可满足园林绿篱的修剪需求；臂架结构的最大等效应力为34.245MPa，最大变形为1.897 1mm，刚度和强度均满足技术指标的要求，且其固有频率可有效避开外界频率，避免共振现象。本研究为景观绿篱修剪机器人研制提供机械结构设计方法与方案，具有一定的应用价值。更多还原

【Abstract】 In order to meet the needs of the diversified landscape hedge trimming model for the working space,structural rigidity and strength of the trimming robot,a five-degree-of-freedom trimming robot structure for garden green plants was designed.First,the D-H method was used to model and kinematics analysis of the robot,and the Monte Carlo method was used to obtain the robot’s working space;Then,with spherical hedges as the pruning target,the dimensions of the main rods of the robot arm structure were determined based on the robot’s effective spatial volume ratio and velocity full domain performance indexes.Finally,the finite element static and vibration modal simulations were performed for the boom structure.The simulation results showed that when the size of the big arm was 800mm,the size of the forearm was 900mm,and the size of the wrist arm was 350 mm,the vertical trimming range of the robot was 0-2 000mm,and the horizontal trimming range was from -1 300 mm to 1 300 mm,and the working space could meet the demand of garden hedge pruning;The maximum equivalent stress of the boom structure was 34.245 MPa,and the maximum deformation was 1.897 1mm.The rigidity and strength can meet the requirements of technical indicators,and its natural frequency can effectively avoid external frequencies and avoid resonance.This research provides a mechanical structure design method and scheme for the development of a landscape hedge trimming robot,which has certain application value.更多还原