本文選題：采摘機(jī)械臂 + 正逆運(yùn)動(dòng)學(xué)　； 參考：《重慶理工大學(xué)》2017年碩士論文

【摘要】：近年來(lái),我國(guó)的水果種植面積和總產(chǎn)量逐年增加,在水果生產(chǎn)作業(yè)過(guò)程中,50%-70%的生產(chǎn)成本源于采摘。采摘作業(yè)重復(fù)性強(qiáng)且勞動(dòng)力需求大,但目前用于果實(shí)采摘的機(jī)械裝備較少且智能化水平低,不能有效地將人從繁雜的農(nóng)業(yè)生產(chǎn)中解放出來(lái),不能有效的節(jié)約勞動(dòng)力資源、提高生產(chǎn)率。因此,研究智能、高效的果實(shí)采摘機(jī)器人有助于將人從農(nóng)業(yè)生產(chǎn)中解放出來(lái),并降低生產(chǎn)成本、提高勞動(dòng)生產(chǎn)率。機(jī)械臂是采摘機(jī)器人重要的執(zhí)行部件,它的運(yùn)動(dòng)規(guī)劃和任務(wù)規(guī)劃直接影響著采摘機(jī)器人的采摘成功率和效率,因此有必要對(duì)采摘機(jī)械臂的運(yùn)動(dòng)規(guī)劃和任務(wù)規(guī)劃進(jìn)行研究。本文主要的研究工作如下:(1)對(duì)采摘機(jī)械臂進(jìn)行正逆運(yùn)動(dòng)學(xué)求解分析,利用解析法求出了機(jī)械臂的八組逆解,采用“最小能量”準(zhǔn)則對(duì)逆解進(jìn)行了選取,借助Robotics toolbox編寫了基于MATLAB GUI的機(jī)械臂正逆運(yùn)動(dòng)學(xué)仿真界面,仿真結(jié)果表明:正逆運(yùn)動(dòng)學(xué)求解正確。(2)提出一種基于第五關(guān)節(jié)分離的采摘姿態(tài)規(guī)劃方法,通過(guò)理論分析及MATLAB仿真表明該方法能夠先判斷果實(shí)是否在采摘空間內(nèi),然后確定機(jī)械臂的采摘姿態(tài);針對(duì)關(guān)節(jié)空間的軌跡規(guī)劃,對(duì)比了幾種軌跡規(guī)劃方法的運(yùn)動(dòng)特性,最終選擇擺線軌跡規(guī)劃;結(jié)合姿態(tài)規(guī)劃和軌跡規(guī)劃,進(jìn)行了單果采摘仿真實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明:機(jī)械臂能夠自適應(yīng)規(guī)劃姿態(tài)和軌跡,滿足機(jī)械臂實(shí)際采摘的運(yùn)動(dòng)要求。(3)針對(duì)采摘機(jī)械臂連續(xù)采摘多個(gè)果實(shí)的作業(yè)任務(wù),提出了一種基于“關(guān)節(jié)角加權(quán)最小”的任務(wù)規(guī)劃方法,采用蟻群算法進(jìn)行求解,編寫了機(jī)械臂連續(xù)采摘多個(gè)果實(shí)的仿真界面,通過(guò)多組實(shí)例仿真結(jié)果表明:該方法不僅能夠滿足機(jī)械臂連續(xù)采摘多個(gè)果實(shí)的要求,而且當(dāng)果實(shí)個(gè)數(shù)大于三個(gè)時(shí),該方法比“路徑最短”方法更節(jié)約能量。(4)在實(shí)驗(yàn)室內(nèi)搭建了采摘實(shí)驗(yàn)平臺(tái),進(jìn)行了單果采摘及多果采摘實(shí)驗(yàn),單果采摘實(shí)驗(yàn)表明:運(yùn)動(dòng)規(guī)劃能使機(jī)械臂完成單果采摘的運(yùn)動(dòng)要求,平均采摘時(shí)間為25.5s/個(gè);多個(gè)果實(shí)采摘實(shí)驗(yàn)表明:基于“關(guān)節(jié)角加權(quán)最小”的任務(wù)規(guī)劃能夠使機(jī)械臂自動(dòng)完成多個(gè)果實(shí)的連續(xù)采摘任務(wù),且該方法的采摘時(shí)間比“路徑最短”方法的采摘時(shí)間更短。
[Abstract]:In recent years, the planting area and total output of fruit in China have been increasing year by year, and 50% -70% of the production cost is due to plucking in the process of fruit production.Picking operations have strong reproducibility and large labor demand, but at present the machinery and equipment used for fruit picking is less and the level of intelligence is low, which can not effectively liberate people from the complex agricultural production, and can not effectively save labor resources.Increase productivity.Therefore, the study of intelligent and efficient fruit picking robot is helpful to liberate people from agricultural production, reduce production cost and improve labor productivity.Robot arm is an important executive part of picking robot, its motion planning and task planning directly affect the success rate and efficiency of picking robot, so it is necessary to study the motion planning and task planning of picking robot.The main research work of this paper is as follows: (1) the forward and inverse kinematics analysis of picking manipulator is carried out. Eight sets of inverse solutions of the manipulator are obtained by using analytical method, and the inverse solution is selected by using the "minimum energy" criterion.With the help of Robotics toolbox, the forward and inverse kinematics simulation interface of manipulator based on MATLAB GUI is compiled. The simulation results show that the kinematics solution of forward and inverse kinematics is correct. (2) A picking attitude planning method based on the separation of the fifth joint is proposed.The theoretical analysis and MATLAB simulation show that the method can determine whether the fruit is in the picking space and then determine the picking attitude of the manipulator. The kinematic characteristics of several trajectory planning methods are compared for the trajectory planning of joint space.Finally, the cycloidal trajectory planning is selected, and the simulation experiment of single fruit picking is carried out combining attitude planning and trajectory planning. The experimental results show that the robot arm can plan the attitude and trajectory adaptively.According to the task of picking multiple fruits continuously, a task planning method based on "minimum joint angle weighting" is proposed, which is solved by ant colony algorithm.The simulation interface of continuous picking of multiple fruits with mechanical arm is compiled. The simulation results show that the method can not only meet the requirements of continuous picking of more than three fruits, but also can be used when the number of fruits is more than three.This method saves more energy than the "shortest path" method. (4) the experimental platform of picking is set up in the laboratory, and the experiment of picking single fruit and multiple fruit is carried out.The results of single fruit picking experiment show that the motion planning can make the robot arm complete the motion requirement of single fruit picking, and the average picking time is 25.5s/;Multiple fruit picking experiments show that the task planning based on "joint angle weighted minimum" can make the robot arm complete the continuous picking tasks automatically, and the picking time of this method is shorter than that of the "shortest path" method.
【學(xué)位授予單位】：重慶理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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本文編號(hào)：1749949