【摘要】 基于目前我国采摘机器人研究的现状，设计了一款以履带移动平台为底盘，装载有机械手臂的履带采摘机器人。同时针对目前对于履带移动机器人的研究往往将移动平台与搭载的执行机构分离开来分别研究其运动性能的现状，以设计的机器人作为研究的对象，分别对机械手臂与履带移动平台建立运动学模型，并对二者进行结合建立整车的统一动力学方程。根据理论分析于RecurDyn中建立了机器人的完整动力学模型，通过仿真实验分析了机械臂与移动底盘在动态干涉下的行驶特性，提出了一种提升车辆在行驶时提高稳定性的方法，通过实验对于提出方法的可行性进行了合理的验证并求出了相关的数值。更多还原

【Abstract】 Based on the current research status of picking robot in China,a crawler picking robot with a crawler mobile platform as the chassis and a manipulator is designed. At the same time,in view of the current situation that the research on tracked mobile robot often separates the mobile platform from the carrying actuator to study its motion performance respectively,taking the designed robot as the research object,the kinematics models of manipulator and tracked mobile platform are established respectively,and the two are combined to establish the unified dynamic equation of the whole vehicle. According to the theoretical analysis,the complete dynamic model of the robot is established in RecurDyn. Through the simulation experiment,the driving characteristics of the manipulator and the mobile chassis under the dynamic interference are analyzed,and one method to improve the stability of the vehicle is proposed. The feasibility of the proposed method is reasonably verified through the experiment,and the relevant values are obtained.更多还原