可控变杆长空间机构在农机部件工作轨迹上的设计与应用

基金项目: 国家“十五”科技攻关计划项目(2004BA524B-01)

Track design and application of spatial controlled variable link-length mechanism in agriculture machine

1.
College of Engineering, China Agricultural University, Beijing 100083, China
2.
Engineering Training Center, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要: 根据实际需要给定的空间轨迹，设计某种空间连杆机构，使得该空间机构连杆上定点的运动轨迹逼近所给定的空间轨迹。该文采用了可控变杆长空间连杆机构来实现已知运动轨迹，该运动轨迹可应用到机械手拔秧插秧、果实采摘、枝苗嫁接等农业机械设计中，为实现空间复杂运动轨迹设计提供了理论研究基础，该方法可应用于机器人、机械手的轨迹规划。
- 空间连杆机构 /
- 空间轨迹 /
- 可控变杆长
Abstract: According to a spatial practical given track, a spatial link mechanism was designed, of which a given point moving track of a link resembles the given track. In this paper, a new design method of spatial link mechanism was presented, and a controlled spatial link mechanism was chosen. The given track can be applied to many agricultural fields such as rice transplanting, fruit picking. The method can be applied to marking out track of robot and manipulator, and supply theory basis for design of implementing intricate moving tracks.
- spatial link mechanism /
- spatial track /
- controlled variable link-length