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組培苗移植機(jī)器人的運(yùn)動學(xué)求解
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    摘要:

    為了實(shí)現(xiàn)對5自由度關(guān)節(jié)式組培苗移植機(jī)器人的精確控制,，對機(jī)器人進(jìn)行了運(yùn)動分析和綜合,，采用Denavit-Hartenberg分析方法建立了機(jī)器人操作臂的幾何模型和運(yùn)動學(xué)方程,，實(shí)現(xiàn)了機(jī)器人的運(yùn)動學(xué)方程正解；根據(jù)機(jī)構(gòu)特點(diǎn),，用幾何解析法得到封閉形式的機(jī)器人運(yùn)動學(xué)方程逆解。對組培苗移植機(jī)器人進(jìn)行了運(yùn)動學(xué)仿真分析,，驗(yàn)證了所求得的正解和逆解,。機(jī)器人運(yùn)動學(xué)正、逆解的實(shí)現(xiàn),，為組培苗移植機(jī)器人的軌跡規(guī)劃和精確運(yùn)動控制奠定了基礎(chǔ),。

    Abstract:

    In order to control the jointed robot accurately, the motion analysis and synthesis for 5 degrees of freedom of tissue culture plantlet transplanting robot were carried out. Geometrical model and kinematic equation of the robot manipulator were founded using the Denavit-Hartenberg analysis method, and forward solution of the kinematic equation was completed. According to configuration characteristic of the robot, close-type inverse solution of the kinematic equation was obtained by geometry analysis. The forward and inverse solution that had been obtained was validated by motion simulation analysis. Kinematic solution of the tissue culture plantlet transplanting robot established a foundation for trajectory planning and accurately motion control.

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楊麗,張鐵中.組培苗移植機(jī)器人的運(yùn)動學(xué)求解[J].農(nóng)業(yè)機(jī)械學(xué)報,2007,38(7):94-98.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(7):94-98.

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