【作者】 李伟；

【导师】 路敦民；

【作者基本信息】 北京林业大学 ， 机械制造及其自动化， 2014， 硕士

【摘要】 果蔬采摘作业是果蔬生产链中最费时费力的一个环节,因此有必要对果蔬采摘机器人进行研究。本文设计了果蔬采摘机器人的6自由度机械臂,还针对目前末端执行器缺乏通用性的缺点设计了一种通用柔性末端执行器,并完成了样机的加工装配。首先介绍机械臂的腕关节、肘关节、肩关节的具体结构设计；然后完成了通用柔性末端执行器的设计以及静力学、运动学分析和仿真；接着对6自由度机械臂的运动学正、逆解问题进行计算,并用Robotics Toolbox仿真完成了运动学正、逆解验证；另外通过分级计算可能与障碍物发生碰撞时各个关节角的范围,得到了机械臂工作空间,并做出了A*算法从工作空间中规划出一条最优路径的流程图；最后通过样机的实验测试,证明了机械臂和通用柔性末端执行器都达到了设计的要求,实现了采摘的通用性和柔性功能,为下一代样机乃至将来实际应用打下了基础。更多还原

【Abstract】 Because fruit and vegetable picking work cost too much time and manpower, the aging problem is more and more serious and labor is decreasing, So it is necessary to study of fruit and vegetable picking robot. The six degrees of freedom of picking robot arm was designed in this paper. Aiming at the lack of universality, a flexible and universal end effector was proposed and the prototype was processed.First, Wrist, elbow, shoulder joint structure were designed; The structure of flexible and universal end effector was designed, then the statics、kinematics analysis and simulation were finished; Kinematics and inverse kinematics problem of six degrees of freedom of picking robot arm were calculated, and the simulation was finished in Robotics Toolbox; Besides, space analysis of the obstacle avoidance of fruit and vegetable picking robot arm has been completed by calculating possible collision with the obstacles of each joint Angle range, and a optimal path was planned out from the free space by using A*algorithm and the flow chart of A*algorithm has been finished. Finally, through the experiment of prototype, the design requirements of picking robot arm and flexible universal end effector were proved exactly, which laid the foundation for the next generation of prototype and further application.更多还原