CAJ | 학술논문

针对国内棉花采收存在的问题，提出了运用棉花采摘机械手代替人工和采棉机采收的方法。在对棉花农业特性及收获特性分析的基础上，结合新疆棉花种植模式以及棉花采求，遵循机械手设计原则，设计了一种5自由度多行采收的关节型棉花采摘机械手。为使机械手能够高效灵活地收获目标空间棉铃，尽可能减小机械臂的操作空间和结构尺寸，结合采摘对象棉铃的生长分布空间和作业要求，分析了在给定空间下的设计变量、优化目标和约束条件，建立了优化设计的数学模型，并利用MatLab优化工具箱进行编程，实现了棉花采摘机械手的机构参数优化。
침대국내면화채수존재적문제，제출료운용면화채적궤계수대체인공화채면궤채수적방법。재대면화농업특성급수획특성분석적기출상，결합신강면화충식모식이급면화채구，준순궤계수설계원칙，설계료일충5자유도다행채수적관절형면화채적궤계수。위사궤계수능구고효령활지수획목표공간면령，진가능감소궤계비적조작공간화결구척촌，결합채적대상면령적생장분포공간화작업요구，분석료재급정공간하적설계변량、우화목표화약속조건，건립료우화설계적수학모형，병이용MatLab우화공구상진행편정，실현료면화채적궤계수적궤구삼수우화。
A cotton harvest method of using cotton picking manipulator instead of manual picking and harvesting cotton picker harvesting was proposed for the exiting problems of domestic cotton harvest .Based on the analysis on the agricul-tural characteristics and gain characteristics of cotton , following the manipulator design principles , Multi oint type picking cotton picking manipulator with 5 degree of freedom was designed combined with XinJiang cotton planting pattern and cot-tonpicking requirements .In order to harvest cotton bolles of the target space flexibly and efficiently , meanwhile to reduce operating space and structure size of the manipulator as much as possible ,the mathematical models according to the cotton bolles ’ growth circumstance and distribution space were constructed by analyzing the design variables ,the optimization ob-jectives and constraints in a given space , and the MATLAB optimization Toolbox was applied to program and realize pa-rameter optimization of cotton picking manipulator .