摘要在我国目前的农业生产中，苹果采摘作业多数以人工作业为主，人工采摘作业的质量和效率低下，严重影响了苹果的储存、加工和销售，苹果采摘机器人取代人工作业迫在眉睫。本文设计的苹果采摘机器人是一种高效的苹果采摘装置，是集环境感知、动态决策与规划运动控制与执行一体的综合系统,由行走机构、机械手臂和执行末端组成的特殊机器人系统，这种采摘机器人适用范围广阔，可以在多种地形下使用，是国内为苹果采摘机器人研究的最新技术，对我国加快实现农业机械化具有重大促进和推动作用。59163
本文设计研究了以下一种苹果采摘机器人，具体内容如下：
首先，研究设计了采摘机器人的总体结构及工作原理，给出了系统框图和电路图，重点包含了机器人的机械结构、数学模型和控制电路。
其次，详细分析了苹果采摘机器人的机械结构，通过研究苹果采摘机器人机械结构，建立苹果采摘机器人数学模型，对苹果采摘机器人进行了运动学分析。
然后，在此基础上根据控制算法，分析其运动学规律，找出能产生最佳避障效果的苹果采摘机器人的运动轨迹，对苹果采摘机器人进行路径规划。
最后，根据苹果机器人运动学特点和现有仿真软件，进行仿真实验研究。
毕业论文关键词： 苹果采摘机器人 机械结构，系统分析 路径规划 仿真
ABSTRACT
Currently in China's agricultural production, apple picking jobs to manual work still mainly artificial low quality and efficiency of the picking operation, seriously affecting the apple storage, processing and marketing, apple picking robot to replace the manual operation is imminent. Apple picking robot designed in this paper is an efficient means of picking apples, is context-aware, integrated system dynamic decision-making and planning and implementation of integrated motion control, the robot system consists of a special running gear, mechanical arm and the end of the implementation of the composition of this picking robot broad scope of application, can be used in a variety of terrain, is the apple picking robot research the latest technology, to accelerate the realization of agricultural mechanization has significant role in promoting and facilitating.
This design study of the following apple picking robot, as follows:
Firstly, the overall structure and design principle of picking robot, shows the block diagram and schematic, the focus includes the mechanical structure of the robot, the mathematical model and control circuits.
Secondly, a detailed analysis of the mechanical structure of the robot apple picking, apple picking robots by studying mechanical structure, the establishment of apple picking robot mathematical model of apple picking robot kinematics analysis
Then, on this basis, according to a control algorithm to analyze the kinematics law, to find the best trajectory to produce the effect of obstacle avoidance robot picking apples, apple picking robot path planning.
Finally, according to Apple kinematic characteristics and the existing robot simulation software, simulation experiments.
Keywords: apple picking robot structure, motion analysis path planning
摘要1
ABSTRACT...2
第一章 绪论..3
1.1课题的背景及意义4
1.2采摘机器人的特点5
1.3.1国外研究现状...7
1.3.2 国内研究现状..8
1.4本文主要研究内容9
第二章 苹果采摘机器人的机械结构.11
2.1苹果采摘机器人的行走结构分析...12
2.2苹果采摘机器人的机械手臂分析...13
2.3苹果采摘机器人的末端执行器分析...14 MATLAB苹果采摘机器人路径规划:http://www.751com.cn/jixie/lunwen_64350.html