番茄采摘机械臂结构优化与工作空间仿真
首发时间:2016-07-13
摘要:为提高番茄采摘机械臂对非结构环境的适应性,根据番茄的生物学特性、栽培方式和定植特性,设计了适于自动化采收的机械臂本体结构。将番茄成熟果实生长立体空间等效简化为平面矩形空间,建立了番茄采摘机械臂结构优化数学模型:以工作空间包络面积为目标函数,以工作空间包容边界为约束条件,并利用MATLAB优化工具箱实现了对结构参数的优化计算。采用基于MATLAB的蒙特卡洛法对工作空间进行了仿真,结果表明:4自由度机械臂结构参数优化正确,工作空间能够包容所要求的番茄目标采摘空间,满足番茄自动化采收作业要求。
For information in English, please click here
Structure Optimization and Workspace Simulation of Tomato Picking Manipulator
Abstract:In order to improve adaptability of tomato picking manipulator to the unstructured enviroment, according to biological characteristics, cultivation mode and engraftment features of tomato, a manipulator which is suitable for automatically harvesting was designed. After equivalently simplified cube space of tomato to plane rectangle space, structure optimization mathematical models of picking manipulator were constructed by taking the area of workspace for objective and the periphery for constrains. Based on the models and optimization toolbox of MATLAB, structural parameters of manipulator were optimized. Also based on MATLAB, simulation of workspace by Mente Carlo method was realized, results show that 4 freedom degree manipulator was able to fit the requirements of tomato harvesting and verified the rationality of optimization parameters.
Keywords: Mechanical design Tomato picking manipulator Structure optimization Workspace simulation
论文图表:
引用
No.4700152115754414****
同行评议
共计0人参与
勘误表
番茄采摘机械臂结构优化与工作空间仿真
评论
全部评论0/1000