CAJ | 학술논문

　　根据对苹果园区的实地考察，利用Inventor软件建立了GY-1型果树采摘机器人机械臂的实体模型，完成装配。利用Inventor、Pro/E、ADAMS2005这3种软件之间的接口技术，把机械臂模型导入ADAMS/View模块中。经过有效简化结构，对各个关节和液压缸分别添加约束和驱动，最终生成机械臂的虚拟样机。在ADAMS仿真中，通过计算各个液压缸的运动驱动函数，模拟了机械臂的一组采摘动作，得出机械臂上几个关键关节的受力变化曲线。通过对曲线结果的分析可以获得机械臂采摘时各关节的实时运动信息，为后续工作研究奠定了理论基础。
　　근거대평과완구적실지고찰，이용Inventor연건건립료GY-1형과수채적궤기인궤계비적실체모형，완성장배。이용Inventor、Pro/E、ADAMS2005저3충연건지간적접구기술，파궤계비모형도입ADAMS/View모괴중。경과유효간화결구，대각개관절화액압항분별첨가약속화구동，최종생성궤계비적허의양궤。재ADAMS방진중，통과계산각개액압항적운동구동함수，모의료궤계비적일조채적동작，득출궤계비상궤개관건관절적수력변화곡선。통과대곡선결과적분석가이획득궤계비채적시각관절적실시운동신식，위후속공작연구전정료이론기출。
According to the field investigation for apple garden , the solid model of GY-1 apple-harvesting robot’s me-chanical arm was founded and assembled using the Inventor software .With the software interface technology among In-ventor, Pro/E, ADAMS 2005,mechanical arm was imported into ADAMS/View.After being effectively structure-simpli-fied and added restrictions and drives for all joints and hydraulic cylinder respectively , the virtual prototype of robot ’s mechanical arm was produced .In ADAMS simulation, through calculation movement drive function of each hydraulic cyl-inder,this article simulated a set of picking action of mechanical arm and obtained several key joints ’ force-changing curves.Through the analysis of the results of the curves ,we can obtain the real-time motion information of each joint, when mechanical arm picking apples .All above lays a theoretical basis for the follow-up study.