The Kinematics And Dynamics Simulation Of The Forestry Special Robot For The Hedge Pruning

Hedge-pruning is labor and time-consumed and dangerous job on highway and in the park,so it is trend to substitute robot for labor. Study on realization of multi-purposed mobile robot,funded by Nanjing Forestry University, was put forward for hedge-pruning and grass-cutting.This paper mainly focused on the simulation of the forestry special robot for hedge pruning, finished the prophase development of the robot, prepared for the Manufacture and design of the real robot. I designed the simple model which has four revolute joints after measuring and analyzing the task and the object.Firstly, based on the D-H method, it built the coordinate on the joints,established the kinematics equations and solved the Jorcobi matrix. As to the reverse kinematics of my robot, it used the geometry method to get the results when the end part of the robot was in two situations which one is line trace and another one is the arc trace.Secondly, it calculated the workspace of the robot's workspace. The workspace is critical for the design of my robot, based on the Moterkalo arithmetic, I acquired the picture of the workspace of my robot in MATLAB, if the workspace could not satisfy the request, it should reset the parameters of the robot to recalculate the workspace in MATLAB.Thirdly, it built the simple model of my robot in the ProEngineer software, and transmitted it into the ADAMS/VIEW by using the interface software MACHANISM/Pro. it defined the body and set the joints in the MECHANISM/Pro before the robot model was transmitted into ADAMS/VIEW, and set the motion in the ADAMS.Fourthly, the important step of this thesis is the kinematics and dynamics simulation of robot, it acquired the joints'curves by MATLAB/SIMULINK in which it built the kinematics procedure and reverse kinematics procedure, and imported the joint curves into the ADAMS/VIEW to drive the joints of the robot. According to the result of the simulation, it can got many data for the design of the real robot.In my thesis, it finished the prophase development of the robot for hedge pruning, and practiced the kinematics and dynamics simulation, prepared for the design of a real pruning robot.