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Position: Home > Articles > Kinematic Solution of Tomato Harvesting Manipulator with 7-DOF Journal of Agricultural Mechanization Research 2006 (11) 94-95

七自由度番茄收获机械手运动学求解

作  者:
刘小勇;冯江;郭俊杰
单  位:
张家口职业技术学院机械系;东北农业大学工程学院
关键词:
农艺学;番茄收获机械手;理论研究;正运动学;逆运动学
摘  要:
番茄收获机械手能够提高劳动生产率和作业质量,降低劳动强度,改善工作环境,实现收获作业机械化、自动化和智能化。为此,采用Denavit-Hartenberg坐标系,通过齐次坐标变换建立了7DOF番茄收获机械手的运动学模型,并对正运动学及逆运动学进行了求解。
译  名:
Kinematic Solution of Tomato Harvesting Manipulator with 7-DOF
作  者:
LIU Xiao-yong1, FENG Jiang1, GUO Jun-jie2 (1.Engineering College, Northeast Agricultural University, Harbin 150030, China; 2.Department of Machinery, Zhangjiakou Vocational Technology College, Zhangjiakou 075000, China)
关键词:
agronomy; tomato harvesting manipulator; theoretical research; direct kinematic; inverse kinematic
摘  要:
Tomato Harvesting Manipulator can enhance the productivity, improve the quality and reduce the laboring intensity, improve working environment, realize mechanized, automatized and intelligentized harvesting. This paper used Denavit-hartenberg coordinate to build kinematic modal of tomato harvesting manipulator with 7-DOF through homogeneous transformation .And solved the Direct Kinematic and Inverse Kinematic equations.

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