摘要
采用Denavit-Hartenberg坐标系,通过齐次变换法建立了7自由度番茄收获机械手的正运动学方程,利用蒙特卡洛方法对机械手工作空间进行仿真和分析.结果表明,番茄收获机械手工作空间内部工作点密集且分布均匀,能够满足番茄采摘高效作业的要求.蒙特卡洛法求解速度快,能够简单、直观形象地描绘机械手的工作空间.
Forward kinematics equation of a tomato harvesting manipulator with degree of freedom equal to 7 based on the Denavit-Hartenberg coordinate was set up through homogeneous transformation. At the same time, workspace of the manipulator was simulated by Monte Carlo method. It was indicated that the working points in the workspace of the tomato harvesting manipulator were distributed compactly and uniformly, which can satisfy tomato harvesting requirements with high efficiency. In addition, Monte Carlo method can straightforwardly and visually describe manipulator workspace with high speed.
出处
《浙江大学学报（农业与生命科学版）》
CAS
CSCD
北大核心
2005年第6期807-811,共5页
Journal of Zhejiang University:Agriculture and Life Sciences
基金
国家自然科学基金资助项目(50175101)
关键词
番茄收获机械手
工作空间
仿真
正运动学
tomato harvesting manipulator
workspace
simulation
forward kinematics
