Design Of Off-line Programming System Of A Fruit-vegetable Harvesting Robot With Six Degree-of-freedom

It has been testified by the vast application in manufacture that off-line programming didwell in manufacturing efficiently, especially in difficulty case. Facing more complicated case inagriculture, we’d better use off-line programming, while we can hardly find any papers whichare focus on the software of off-line programming in robot in agriculture. The paper supportedby the863program of China (number:2006AA10Z257name: critical technology research ongreenhouse all-directional automatous fruit-vegetable harvesting robot), and on the basis ofstudy on kinematics, workspace and trajectory planning of a6-DOF fruit-vegetable harvestingrobot, an off-line programming system was developed by using SolidWorks and LabVIEW. Themain work was as follows:(1)The paper got the D-H parameters according to the D-H transformation theory, and the3D model of the robot was founded, also the forward and inverse kinematics of the robot wasestablished. Through the enveloping analytical method, border sketch of the operation spacewas drawn. The Jacobian matrix was deduced by means of homogeneous transformation matrixand vector product. Then, the singularity of the robot was analyzed by using the singular valuedecomposing method. Also two main index, manipulability and condition index, of thedexterity of the robot was analyzed.(2)The paper used quantic-polynomial interpolation to plan the trajectory and get the jointsspeed and acceleration with well continuation; the formula of the linear trajectory planning andarc trajectory planning was deduced in the orthogonal coordinate space, which did well in CP(continuous path) control. And the linear trajectory planning was simulated by Matlab.(3)An off-line programming control system was studied by means of LabVIEW and thesecondary development of SolidWorks. By using SolidWorks, robot models were built,androbot motion simulation under joint space and orthogonal coordinate space was realized, andlinear trajectory planning and arc trajectory planning module were also completed; Dataconversion module based on LabVIEW, which can read the data from the interpolation filegenerated by the off-line programming system, and use these data to control the practical robotthat all the modules consisted the simulated software.(4)Trajectory planning of line and circle and combined simulation of mechanism wereperformed, and the date of Linear and circular interpolation were gotten, also the feasibility ofsystem was tested. Through all of this, the system basically reached the desired goal. The paper focused on the off-line programming control system of the Fruit-vegetableHarvesting Robot with Six Degree-of-Freedom in order to enlarge the robot’s application withgreat efficiency and lower cost.