CAJ | 학술논문

针对人工对绿篱进行修剪造型时存在的效率低、劳动强度大的缺点,提出了一种能够对绿篱苗木进行几何造型的六自由度绿篱苗木修剪机械手,并通过D-H矩阵理论对修剪机械手的运动学正、逆解进行求解.此外,基于Pro/E与ADAMS的联合仿真技术对机械手进行三维建模及圆球造型的仿真.仿真结果表明刀具运动轨迹与预定的理论轨迹重合,证实了运动学方程的正确性,也说明了机械手进行几何造型修剪的可行性.仿真过程中腰关节、肩关节、肘关节、小臂转动关节、腕部回转关节及腕关节的最大角加速度分别为3.8°/s2、7.2°/s2、2.3°/s2、6.7°/s2、10.4°/s2及3.7°/s2,数值较小,说明机械手运行平稳.通过对修剪机械手建立运动学方程以及仿真分析,可以得到其运动规律及动力参数,为实际样机的研制奠定理论基础.
침대인공대록리진행수전조형시존재적효솔저、노동강도대적결점,제출료일충능구대록리묘목진행궤하조형적륙자유도록리묘목수전궤계수,병통과D-H구진이론대수전궤계수적운동학정、역해진행구해.차외,기우Pro/E여ADAMS적연합방진기술대궤계수진행삼유건모급원구조형적방진.방진결과표명도구운동궤적여예정적이론궤적중합,증실료운동학방정적정학성,야설명료궤계수진행궤하조형수전적가행성.방진과정중요관절、견관절、주관절、소비전동관절、완부회전관절급완관절적최대각가속도분별위3.8°/s2、7.2°/s2、2.3°/s2、6.7°/s2、10.4°/s2급3.7°/s2,수치교소,설명궤계수운행평은.통과대수전궤계수건립운동학방정이급방진분석,가이득도기운동규률급동력삼수,위실제양궤적연제전정이론기출.
A hedge trimmer manipulator with six degrees of freedom is designed for hedge shaping to take over the laborious and time-consuming process for trimming by hand. The forward and inverse kinematics equations of this hedge trimmer manipulator with six degree of freedom were deduced based on D-H matrix theory. 3D models were established and the progress of ball cutting was simula-ted based on the joint simulation method of Pro/E and ADAMS. The overlap between simulation trajectory and theoretical trajectory proved the correctness of the kinematic equations of the hedge trimmer manipulator and showed feasibility of geometry modeling and hedge modeling by the hedge trimmer manipulator. Within the simulation process, the every maximal angular acceleration were 3. 8°/s2 , 7. 2°/s2 , 2. 3°/s2 , 6. 7°/s2 , 10. 4°/s2 and 3. 7°/s2 respectively. These small angular ac-celeration demonstrated that the manipulator can complete the lifting work smoothly. After getting trimmer manipulator's movement patterns and dynamic parameters from kinematics equations and simulation analysis, the theoretical foundation of the physical prototype was established.