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Position: Home > Articles > 名优茶采摘机器人机械手结构参数优化与仿真 Journal of Chinese Agricultural Mechanization 2018 (7)

名优茶采摘机器人机械手结构参数优化与仿真

作  者：
王先伟;吴明晖;周俊;邵佩迪;陈善本
关键词：
名优茶;采摘机械手;工作空间;D-H法;蒙特卡洛法
摘  要：
为提高名优茶采摘机器人采摘效率,减小机械手的操作空间和结构尺寸,基于名优茶特性、采摘要求以及结构化茶园种植模式,设计一种4自由度关节型名优茶采摘机械手.根据名优茶生长分布空间以及采摘机器人移动平台结构,确立机械手几何工作空间,然后以机械手工作空间主截面包络面最优为目标函数,以轨迹区域约束、杆件尺寸和关节角度限制为约束条件,建立机械手结构参数优化模型,采用MATLAB优化工具箱来求解.最后通过蒙特卡洛法以及MATLAB机器人工具箱对机械手工作空间进行仿真验证.结果表明:优化后的机械手能包容名优茶采摘所要求的全部目标空间.该研究为名优茶采摘机械手进一步分析奠定基础.
作  者：
Wang Xianwei;Wu Minghui;Zhou Jun;Shao Peidi;Chen Shanben;School of Mechanical Engineering,Shanghai University of Engineering Science;School of Materials Science and Engineering,Shanghai Jiao Tong University;
单  位：
Wang Xianwei%Wu Minghui%Zhou Jun%Shao Peidi%Chen Shanben%School of Mechanical Engineering,Shanghai University of Engineering Science%School of Materials Science and Engineering,Shanghai Jiao Tong University
关键词：
high-quality tea;;picking manipulator;;working space;;D-H method;;Monte Carlo method
摘  要：
In order to improve the efficiency of high-quality tea picking robots and reduce the operating space and structure size of manipulator,a 4 degree-of-freedom joint picking manipulator was designed.The design is based on the growth characteristics of highquality teas,standardized tea planting patterns,and high-quality tea picking requirements.According to the high-quality tea distribution space and the high-quality tea picking robot mobile platform structure,the robot's geometric working space was established.Then,taking the optimum envelope surface of main section of manipulator workspace as the objective function,the trajectory region constraints,the bar dimensions and the joint angle constraints as constraint conditions,the manipulator size optimization model was established and solved by the MATLAB optimization toolbox.Finally,Monte Carlo method and MATLAB robotic toolbox were used to simulate the manipulator's working space.The results show that the optimized manipulator operating space can accommodate all areas required by the high-quality tea picking.This study laid the foundation for further analysis of high-quality tea picking robots.

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