机械5

摘要：课题主要研究设计了5自由度采摘机械臂，根据采摘机器人目标采摘空间的要求，通过MATLAB优化工具箱对采摘机械臂进行了尺寸优化，并针对目前末端执行器通用性较低的问题设计了一种通过气爪夹持果梗采摘的灵活通用末端执行器。应用SolidWorks2015完成了机械臂和末端执行器各零部件的三维建模和整体装配。通过对课题的研究，进一步优化了采摘机器人的机械结构，提高了果蔬采摘机器人的通用性和采摘成功率，从而真正实现果蔬采摘的自动化和智能化。 关键词：采摘机械臂MATLAB优化工具箱末端执行器三维建模 Abstract:The five degrees of freedom picki
ng robotic arm was desig
ned i
n this study.Accordi
ng to the requireme
nts of the Target picki
ng space for the picki
ng robot, the size of the picki
ng ma
nipulator is optimized by the MATLAB optimizatio
n toolbox.Aimi
ng at the lack of u
niversality,a flexible a
nd u
niversal e
nd effector that holds the fruit stems by p
neumatic claws was desig
ned.Usi
ng SolidWorks2015 to complete the 3D modeli
ng a
nd assembly of the mecha
nical arm a
nd e
nd effector. Through the research of the subject, the mecha
nical structure of the picki
ng robot is optimized, the u
niversality of the fruit a
nd vegetable picki
ng robot a
nd the success rate of picki
ng are improved. So as to realize the automatio
n a
nd i
ntellectualizatio
n of fruit a
nd vegetable picki
ng. Keywords:Picki
ng robot arm MATLAB Optimizatio
n Toolbox E
nd Effector 3D modeli
ng 目录 1绪论1 1.1果蔬采摘机器人的国内外研究概况1 1.1.1国外研究概况1 1.1.2国内研究概况3 2采摘机器人机械结构总体方案设计5 2.1总体设计方案5 2.2方案分析6 3采摘机器人末端执行器的设计7 3.1果蔬的生物学特性7 3.1.1果实的质量7 3.1.2果梗的力学特性7 3.2末端执行器气动原理说明8 4采摘机械臂的设计10 4.1机械臂构型方案的选择10 4.2机械臂的尺寸综合11 4.3机械臂结构设计11 4.3.1机械结构设计原则11 4.3.2驱动方式及传动机构的选择12 5采摘机器人各零件三维建模与整体装配14 5.1各关节的三维建模14 5.1.1两侧端盖实体建模14 5.1.2肩关节外壳实体建模15 5.1.3输出轴实体建模17 5.1.4关节支架和支架固定圈的实体建模17 5.2采摘机器人的整体装配20 结论25 参考文献26 致谢28