3-DOF混联采摘机械手的工作空间分析与设计
|
摘要
为了增强采摘机械手的稳定性、对中性及增大机械手的运动空间,提出1种3-DOF混联采摘机械手机构,对其进行工作空间分析,基于工作空间优化设计出1种高效的可用于农业采摘的小型机械手。根据农业采摘需求选定采摘机械手的机构类型并决定其结构,推导采摘机械手的位置正反解,利用蒙特卡洛方法求解机械手的工作空间并绘制其工作空间的三维点云图;分析关键参数对工作空间的影响,找出参数的最佳值从而优化工作空间。考虑到采摘过程中避免农作物损坏并加快采摘效率,设计了采摘收集一体式的小型果蔬采摘机械手,并使用Creo软件建立了采摘机械手的三维模型。该采摘机械手具有适当的工作空间,可以提高小型果蔬采摘效率。
In order to enhance the stability, the neutral, and the movement workplace of the picking manipulator,this research presents a 3-DOF hybrid picking manipulator mechanism, and designs an efficient manipulator for agricultural picking based on workspace optimization. The type and structure of manipulator mechanism were decided based on agricultural picking needs, according to which the forward and reverse position of the picking manipulator were determined.The Monte Carlo method was then adopted to acquire the manipulator's working space and draw the 3 D point cloud of its working space. The impact of key parameters was analyzed on the workspace to find out the best value of the parameters to optimize the workspace. Therefore, taking into account the avoidance of crop damage during picking and speeding up the picking efficiency, we designed a picking and collecting integrated manipulator for small fruit and vegetable, and established a three-dimensional model of the picking manipulator using Creo software. The picking manipulator has a suitable working space and can meet the needs of picking small fruits and vegetables.
In order to enhance the stability, the neutral, and the movement workplace of the picking manipulator,this research presents a 3-DOF hybrid picking manipulator mechanism, and designs an efficient manipulator for agricultural picking based on workspace optimization. The type and structure of manipulator mechanism were decided based on agricultural picking needs, according to which the forward and reverse position of the picking manipulator were determined.The Monte Carlo method was then adopted to acquire the manipulator's working space and draw the 3 D point cloud of its working space. The impact of key parameters was analyzed on the workspace to find out the best value of the parameters to optimize the workspace. Therefore, taking into account the avoidance of crop damage during picking and speeding up the picking efficiency, we designed a picking and collecting integrated manipulator for small fruit and vegetable, and established a three-dimensional model of the picking manipulator using Creo software. The picking manipulator has a suitable working space and can meet the needs of picking small fruits and vegetables.
引文
[1]骆敏舟,方健,赵江海.工业机器人的技术发展及其应用[J].机械制造与自动化,2015,44(1):1-4.
[2]荣誉金,金振林,崔冰艳.六足农业机器人并联腿构型分析与结构参数设计[J].农业工程学报,2012,28(15):9-14.
[3]吴超宇,钱小吾,余伟,等.直线驱动型并联机器人反向动力学分析与验证[J].农业机械学报,2017,48(12):412-420.
[4]何价来,罗金良,宦朋松,等.基于蒙特卡洛法的七自由度拟人机械臂工作空间分析[J].组合机床与自动化加工技术,2015(3):48-51.
[5]徐达,夏祥,李华,等.基于图解法与蒙特卡洛法的弹药装填机器人工作空间分析[J].火炮发射与控制学报,2014,35(2):16-19.
[6]李娜,王家忠,张建宝,等.一种刚柔混联欠驱动草莓采摘机械手设计[J].河北农业大学学报,2015,38(1):118-121.
[7]刘亚军,徐新喜,黄田.生物检测机器人操作臂工作空间分析与尺度优化[J].机械工程学报,2015,51(3):51-57.
[8]张玉磊,王维新,马本学,等.棉花采摘机械手机构设计及参数优化[J].农机化研究,2015(3):142-145.
[9]Jesús Cervantes-Sánchez J,JoséMaría Rico-Martínez,Víctor Hugo Pérez-Munoz.An integrated study of the workspace and singularity for a Sch?nflies parallel manipulator[J].Journal of Applied Research and Technology,2016,14:9-37.
[10]苑丹丹,邓三鹏,王仲民.蒙特卡洛法的模块化机器人工作空间分析[J].机床与液压,2017,45(11):9-12.
[11]Aguadoa S,Pérezb P,Albajezb J A,et al.Monte Carlo method to machine tool uncertainty evaluation[J].Procedia Manufacturing,2017,13:585-592.
[12]AndréGallant,Clément Gosselin.Extending the capabilities of robotic manipulators using trajectory optimization[J].Mechanism and Machine Theory,2018,121:502-514.
[13]崔冰艳,梁霞,李占贤,等.基于结构参数的农业机器人的设计[J].河北农业大学学报,2014,37(2):128-132.
[14]崔冰艳,金振林,陈丽文.农业机器人腿部运动单元的运动学性能分析与结构参数设计[J].河北农业大学学报,2012,35(5):118-122+128.
[15]崔冰艳,金振林.农业机器人新型肘关节的静力学性能分析[J].农业工程学报,2011,27(3):122-125.
[2]荣誉金,金振林,崔冰艳.六足农业机器人并联腿构型分析与结构参数设计[J].农业工程学报,2012,28(15):9-14.
[3]吴超宇,钱小吾,余伟,等.直线驱动型并联机器人反向动力学分析与验证[J].农业机械学报,2017,48(12):412-420.
[4]何价来,罗金良,宦朋松,等.基于蒙特卡洛法的七自由度拟人机械臂工作空间分析[J].组合机床与自动化加工技术,2015(3):48-51.
[5]徐达,夏祥,李华,等.基于图解法与蒙特卡洛法的弹药装填机器人工作空间分析[J].火炮发射与控制学报,2014,35(2):16-19.
[6]李娜,王家忠,张建宝,等.一种刚柔混联欠驱动草莓采摘机械手设计[J].河北农业大学学报,2015,38(1):118-121.
[7]刘亚军,徐新喜,黄田.生物检测机器人操作臂工作空间分析与尺度优化[J].机械工程学报,2015,51(3):51-57.
[8]张玉磊,王维新,马本学,等.棉花采摘机械手机构设计及参数优化[J].农机化研究,2015(3):142-145.
[9]Jesús Cervantes-Sánchez J,JoséMaría Rico-Martínez,Víctor Hugo Pérez-Munoz.An integrated study of the workspace and singularity for a Sch?nflies parallel manipulator[J].Journal of Applied Research and Technology,2016,14:9-37.
[10]苑丹丹,邓三鹏,王仲民.蒙特卡洛法的模块化机器人工作空间分析[J].机床与液压,2017,45(11):9-12.
[11]Aguadoa S,Pérezb P,Albajezb J A,et al.Monte Carlo method to machine tool uncertainty evaluation[J].Procedia Manufacturing,2017,13:585-592.
[12]AndréGallant,Clément Gosselin.Extending the capabilities of robotic manipulators using trajectory optimization[J].Mechanism and Machine Theory,2018,121:502-514.
[13]崔冰艳,梁霞,李占贤,等.基于结构参数的农业机器人的设计[J].河北农业大学学报,2014,37(2):128-132.
[14]崔冰艳,金振林,陈丽文.农业机器人腿部运动单元的运动学性能分析与结构参数设计[J].河北农业大学学报,2012,35(5):118-122+128.
[15]崔冰艳,金振林.农业机器人新型肘关节的静力学性能分析[J].农业工程学报,2011,27(3):122-125.