摘要
为了适应高架草莓生长分散的特点,方便采摘,设计了4自由度采摘机械手。采用空间坐标转换的方法,进行运动学分析,实现关节舵机角位移、小臂推杆长度与采摘执行机构坐标之间的关系;进行逆运动分析,将目标坐标用对应关节角位移与推杆长度表达出来。采用B样条曲线法进行路径规划,提高采摘速度,并采用神经网络的方法,进行误差补偿。对采摘机械手进行定位精度和采摘速度测试,结果表明:系统具有较高定位精度与采摘速度,且在不同环境中采摘速度相近。
Inorder to preparing the disperse growth of stent strawberry,4-DOF manipulator was designed.Space Coordinate Transformation was used to achieve kinematics analysis,the relationship between angular displacement of joint steering gear,push rod length and coordinate actuator was found.Target coordinate was represented as angular displacement of joint steering gear,push rod length by inverse kinematics analysis.B spline curve method was uesed to Path Planning,to improve picking speed.The neural network method was used to make error compensation.Positioning accuracy and picking speed were tested,the result showed that this system with high positioning accuracy and picking speed,had similar picking speed in different Environment.
作者
马廷辉
Ma Tinghui(Dalian Vocational&Technical College,Dalian 116033,China)
出处
《农机化研究》
北大核心
2021年第5期23-27,34,共6页
Journal of Agricultural Mechanization Research
基金
辽宁省教育科学“十二五”规划课题(JG14EB072)。
关键词
运动学分析
B样条曲线
神经网络
误差补偿
采摘机械臂
草莓
kinematic analysis
B spline curve method
neural network
error compensation
picking manipulator
strawberry
