期刊论文

中文

农机化研究

1003-188X

2015

3

46-49

10.3969/j.issn.1003-188X.2015.03.011

(201104090):公益性行业(林业)科研专项 (2012TT2048):湖南省科学技术厅科研条件创新专项 (KFXM2012029):中南林业科技大学开放项目

本校为第一机构

为了强化油茶果采摘机器人工作的稳定性，以自行研制油茶果采摘机器人为研究对象，通过对采摘机械臂结构进行分析，综合运用D-H表示法和圆柱坐标表示法建立机械臂数学模型，应用MatLab求解以该模型为基础建立的机械臂正运动学方程，仿真得到油茶果采摘机械臂工作空间。

In order to strengthen the working stability of camellia fruit picking robot , the research established the mathe-matical model of the mechanical arm of camellia fruit picking robot by using a combination of D -H notation and cylindri-cal coordinates representation ,which was developed by ourselves ,the picking robot arm structure was also analyzed .Fur-ther more , forward kinematics equation of mechanical arm was solved by MATLAB ,which was based on this model , thus simulation wo...