| 柑橘采摘机器人结构设计及运动学算法 |
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| 引用本文： | 卢伟,宋爱国,蔡健荣,孙海波,陈晓颖.柑橘采摘机器人结构设计及运动学算法[J].东南大学学报(自然科学版),2011,41(1):95-100. |
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| 作者姓名： | 卢伟 宋爱国 蔡健荣 孙海波 陈晓颖 |
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| 作者单位： | 东南大学仪器科学与工程学院;江苏大学食品与生物工程学院; |
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| 基金项目： | 教育部国防基础研究资助项目(GF708006)、教育部重大创新工程培育资金项目(708045) |
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| 摘 要： | 针对柑橘树冠较高,果梗木质化程度高、短且坚硬的特点,设计了新颖的柑橘采摘机器人手臂和末端执行器.根据其工作特征给出了能够提高运算速度的约束条件,并运用D-H法建立了机器人坐标变换矩阵,分别给出了机器人运动学正解和逆解.仿真和试验结果表明了机器人结构设计及运动学算法的合理性、有效性.机器人臂展1 048 mm、工作空间1...
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| 关 键 词： | 水果采摘 柑橘采摘 末端执行器 运动学 机器人 |
Structural design and kinematics algorithm research for orange harvesting robot |
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| Lu Wei,Song Aiguo,Cai Jianrong,Sun Haibo,Chen Xiaoying.Structural design and kinematics algorithm research for orange harvesting robot[J].Journal of Southeast University(Natural Science Edition),2011,41(1):95-100. |
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| Authors: | Lu Wei Song Aiguo Cai Jianrong Sun Haibo Chen Xiaoying |
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| Institution: | Lu Wei1 Song Aiguo1 Cai Jianrong2 Sun Haibo2 Chen Xiaoying1(1School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)(2School of Food and Biological Engineering,Jiangsu University,Zhenjiang 212013,China) |
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| Abstract: | With respect to the characteristics of the orange tree which often has high crowns,short and hard stems with high degree of lignifications,this paper presents a design and implementation of a novel orange harvesting robot which is composed of an arm and an end-effector.Based on the working characteristics of the robot,the constraint conditions which can speed up the computation is given.Then the robot coordinate transformation matrix is derived by the D-H method.Besides,the kinematics and inverse kinematics... |
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| Keywords: | fruit picking orange harvesting end-effector kinematics robot |
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