• EI
    • CSA
    • CABI
    • 卓越期刊
    • CA
    • Scopus
    • CSCD
    • 核心期刊

六足农业机器人并联腿构型分析与结构参数设计

荣 誉, 金振林, 崔冰艳

荣 誉, 金振林, 崔冰艳. 六足农业机器人并联腿构型分析与结构参数设计[J]. 农业工程学报, 2012, 28(15): 9-14.
引用本文: 荣 誉, 金振林, 崔冰艳. 六足农业机器人并联腿构型分析与结构参数设计[J]. 农业工程学报, 2012, 28(15): 9-14.
Rong Yu, Jin Zhenlin, Cui Bingyan. Configuration analysis and structure parameter design of six-leg agricultural robot with parallel-leg mechanisms[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2012, 28(15): 9-14.
Citation: Rong Yu, Jin Zhenlin, Cui Bingyan. Configuration analysis and structure parameter design of six-leg agricultural robot with parallel-leg mechanisms[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2012, 28(15): 9-14.

六足农业机器人并联腿构型分析与结构参数设计

基金项目: 机械系统与振动国家重点实验室开放课题基金项目(No. MSV-2012-10);秦皇岛市科技支撑计划项目(201101A028)

Configuration analysis and structure parameter design of six-leg agricultural robot with parallel-leg mechanisms

  • 摘要: 为拓展六足机器人在农业领域的应用,将并联机构用于六足机器人的腿部结构,从而使其可以用于山地、林地、丘陵等环境的农业运输、种植、采摘等。首先,对六足机器人并联腿部机构进行了构型分析,选择2-UPS+UP机构作为腿部的初步机构原型;其次,依据螺旋理论,对2-UPS+UP机构进行了转动解耦性优化和变异,提出了一种转动解耦的UPR+UPS+UP机构;之后,通过对该机构进行运动学分析,建立了该机构位置逆解模型与速度映射方程;最后,对UPR+UPS+UP机构的工作空间进行了分析,绘制了工作空间三维图,通过分析设计参数对工作空间的影响,确定了一组性能较好的结构参数,该研究为并联腿部机构农业六足机器人的进一步研究提供了参考。
    Abstract: To apply the six-legged robot in the field of agriculture, the parallel mechanism was used in the mechanical leg of the six-legged robot. The six-legged walking robot could be used for transportation, cultivation, harvesting of agricultural fields in the mountains, woodlands, hills. The configuration of the six-legged robot was analyzed, and the 2-UPS+UP parallel manipulator was selected as the initial configuration of the mechanical leg. The rotational decoupled optimization of 2-UPS+UP parallel manipulator was done with screw theory, a rotational decoupled UPR+UPS+UP parallel manipulator was proposed. Based on configuration analysis, kinematics position equations were formulated. Kinematics model of the parallel manipulator was discussed as a key. The inverse position analysis and velocity mapping equations were presented. The workspace of UPR+UPS+UP parallel manipulator was analyzed. Three- dimensional graphic of workspace was drawn. By analyzing the impact of the design parameters on the work space, a set of structural parameters with good performance were selected. These studies laid the theoretical foundation for further study of the six-legged agricultural robot.
计量
  • 文章访问数:  1865
  • HTML全文浏览量:  0
  • PDF下载量:  1021
  • 被引次数: 0
出版历程
  • 收稿日期:  2012-01-14
  • 修回日期:  2012-06-24
  • 发布日期:  2012-07-31

目录

    /

    返回文章
    返回