CAJ | 학술논문

为了解决农用装置机械臂作业过程中生产效率低与人力成本较高等问题，建立一类农业用自动化系统结构模型，将自动化系统末端执行构件运动控制作为主要研究内容，运用旋量理论对系统末端执行构件运动精度进行分析，最终得到自动化系统末端执行构件位置和姿态误差，为后续农业用自动化系统控制提供一定依据。研究结果表明，通过使用旋量理论得到一类农业用自动化系统末端执行构件的运动误差模型，解决了误差模型不能反映系统实际运动误差的问题；随角度误差增加末端执行构件误差呈现增加趋势，且趋势较为明显，而随长度误差变化末端执行构件误差变化并不明显。
위료해결농용장치궤계비작업과정중생산효솔저여인력성본교고등문제，건립일류농업용자동화계통결구모형，장자동화계통말단집행구건운동공제작위주요연구내용，운용선량이론대계통말단집행구건운동정도진행분석，최종득도자동화계통말단집행구건위치화자태오차，위후속농업용자동화계통공제제공일정의거。연구결과표명，통과사용선량이론득도일류농업용자동화계통말단집행구건적운동오차모형，해결료오차모형불능반영계통실제운동오차적문제；수각도오차증가말단집행구건오차정현증가추세，차추세교위명현，이수장도오차변화말단집행구건오차변화병불명현。
In order to solve the problems of agricultural unit operation, low productivity and high labor costs and other, a class of agricultural automation system structure model was established, the main content of the end-effector motion control automation systems, simultaneous kinematics accuracy analysis of systems using screw theory end-effector, eventually the automatic system end-effector position and attitude error were got, which provide a basis for subsequent agricultural automation system control. The results show that screw theory use automated systems to establish a agricultural automation system end-effector motion errors mathematical model solves the error model can not reflect the actual movement of the system error problem;with the angle error increased, the end-effector error showed an increasing trend, and the trend is more obvious, and with the changes in body length error, the end-effector error did not change significantly.