Intelligent Design and Kinematics Analysis of Picking Robot Manipulator

摘要

Aiming at the feature of picking for the biological fruits, an intelligent design of the 5 degree of freedom of lichi picking manipulator was introduced. Based on the first version of the manipulator, its mechanism and manufacture processes were improved, and the key technology in the mechanism design of the manipulator was studied, including some novel design thought and methods of the arm joint and end-effector. Meanwhile, according to the design scheme, the Denavit-Hatenberg method, which is a common method for solving robot kinematics, and a geometry method were adopted to analyze and calculate the manipulator's kinematics solution and its inverse solution. It provides the foundation of continuous optimization of the manipulator's mechanism and control design. At last, the Intelligent design system of picking manipulator was developed in the platform of Microsoft VisualC++, the design scheme and structure design of the manipulator can be optimized in the design system, moreover, through the human-computer interaction, the realtime simulation of the mechanism motion and coordinate inverse calculation can be realized.