期刊论文

中文

机械设计与研究

1006-2343

2022

38

1

195-201

湖南省重点研发计划项目(2021NK2023) 中南林业科技大学研究生科技创新基金项目(CX202102038)。

本校为第一机构

为了实现油茶果的自动化采摘作业,以所设计的推摇式油茶果采摘机械臂为研究对象,首先对机械臂进行了正、逆运动学以及作业空间分析,接着在关节空间采用五次多项式插值法进行轨迹拟合规划,再在分析狼群协作捕猎的模式的基础上,设计了适合油茶果采摘机械臂自动化作业轨迹规划所需要的改进灰狼算法(IGW0)。在MATLAB环境下以工作时间为目标函数建立优化模型对所设计的改进灰狼算法轨迹优化仿真实验,并与传统灰狼算法和遗传算法进行对比分析,结果显示改进灰狼算法相比传统灰狼算法(GWO)和标准遗传算法(SGA)能够更好地适用于油茶果采摘机械臂的时间最优轨迹规划。

In order to realize the automated picking of camellia fruit,the designed push-and-sway camellia fruit picking manipulator is used as theresearch object.First,the forward kinematics,inverse kinematics and the work space analysis of the manipulator are carried out,and then the fifth degree polynomial interpolation is used in the joint space for trajectory planning.Based on the analysis of the cooperative hunting mode of wolves,an improved gray wolf optimization(IGWO)algorithm is designed for automatic operation trajectory planning of camellia fruit picking manipulator.In the MATLAB environment,a...