摘要近年来,农业生产正朝着规模化、多样化、精确化的方向发展,农业劳动力的成本迅速上升,而且现在世界各国均面临老龄化问题,劳动力不足现象日趋明显,农业机器人的技术越来越受到关注。但是，由于果蔬采摘作业的复杂性,采摘自动化程度仍然很低。尤其是采摘机器人关键部位——机械手,其结构复杂、控制繁琐等因素,造成工作效率低、生产成本高,故不能在农业生产中得到普遍的适用。因此,发展机械化收获技术,研究开发果蔬采摘机器人,具有重要意义。国内外对于果蔬采摘机器人仍处于研究开发试验阶段,其实用化、商品化的进程仍很艰巨,主要原因之一就是机器人具体的结构设计与分析存在不足。为此,本文对采摘机器人机械手的结构设计与运动控制仿真进行了研究试验,提出了一种五自由度采摘机械手。具体研究内容是：（1）针对以往机械手出现的一些问题，设计了一种结构较为简单的两指苹果采摘机械手。（2）利用三维实体建模软件solidworks建立机械手的实体样机模型，并导入仿真软件ADAMS中对其进行运动学仿真，使机械手整个运动过程直观化用。61605

毕业论文关键词：  采摘机械手  方案设计  运动仿真

毕业设计说明书（论文）外文摘要

Title   Mobile manipulator's structure design and motion  simulation control           

Abstract In recent years, agricultural production is developing in the direction of the scale, persification and collaboration and the agricultural labor force cost rises rapidly, and now countries around the world are faced with the problem of aging population, and the labor shortage phenomenon has become increasingly obvious and agricultural robot technology has been paid more and more attention. However, because of the complexity of the fruit and vegetable picking work, picking automation level is still low. Especially the key parts -- picking robot manipulator, its complex structure, control such complicated factors, lead to the low work efficiency, production cost is high, so it cannot be widely applied in agriculture. Therefore, it is very significant to develop mechanized harvesting technology, research and development, fruit and vegetable picking robot.To research and develop fruit and vegetable picking robot at home and abroad is still in the test phase, the process of its practical application and commercialization is still very arduous, robot is one of the main reasons for concrete structure design and analysis of the shortcomings. Therefore, in this paper the structure of picking robot manipulator design and motion control simulation was studied experimental, puts forward a five degree of freedom picking manipulator. Specific research contents are as follows:

（1） In view of the problems faced in the past manipulator, designing a kind of structure is relatively simple two apple picking manipulator.

（2） Using 3 d solid modeling software solidworks entity prototype of the manipulator model is set up, and import the simulation software ADAMS carries on the kinematics simulation, making the manipulator directly enter the whole movement process.

Key words:  apple picking robot   program design   motion simulation

1  绪 论 1

1.1 课题研究的目的和意义 1

1.2 机器人的组成及分类 1

1.2.1 机器人的组成 1

1.2.2 机器人的分类 1

1.3 果蔬采摘机器人发展及应用现状 2

1.3.1 国外发展现状 2

1.3.2 国内发展现状 solidworks+ADAMS移动机械臂的结构方案设计与运动控制仿真:http://www.751com.cn/jixie/lunwen_67434.html