Fruit And Vegetable Fast Picking Robot Flexible Load Rigid-flexible Coupling Modeling And Simulation

The research and development of fruit and vegetable picking robot has been greatly stimulated with the increase of the planting area of fruits and vegetables, the increase of population aging and the decrease of labor force. While picking fruit into the basket picking process in, the movement of the mechanical arm is quick and stable picking robot is picking operations needed. Therefore, this paper to tomatoes on picking robot as an example, research fruits and vegetables quickly picking robot flexible load the methods and steps of modeling and Simulation of rigid flexible coupling, and experiments and input shaping method of simulation to verify the influence of tomatoes on vibration of the factors, the specific research content is as follows:Through the inspection of tomato string picking base, select the different shapes of tomato, through the experiment to obtain the biological characteristics of tomato string parameters. The system structure of the tomato picking robot was determined, and the design of each component was carried out, and the 3D model of the tomato string picking robot was set up in PRO/E.Simplified Tomato Picking Robot 3D model, and then imported into Adams, set the model parameters, adding constraints and drive, with module Auto/flex tomatoes on flexible, establishment of Tomato Picking dynamic model of rigid flexible coupling system, and multi-body dynamics simulation analysis is carried out. Through simulation analysis, the factors that affect the vibration of tomato strings are obtained, that is, the acceleration of the manipulator arm, the quality and length of the tomato.Through the Lagrange equation establish tomatoes on picking the mathematical model of the robot, and using MATLAB process of vibration simulation curve of tomatoes on vibration are obtained, and the ADAMS simulation results were compared to verify the rationality of the ADAMS simulation and correctness of the mathematical model.Design tomatoes on picking robot experimental platform, the data was simulated in ADAMS in five groups of tomatoes on the selection, respectively on the mechanical arm acceleration, tomatoes on the quality and length of three vibration influence factors experiments were conducted by MPU-6050 angular acceleration sensor and the Arduino uno for serial communication to collect tomatoes on vibration data, and in MATLAB, sort and analyze data, and modeling and simulation results are compared with that fruit and vegetable quick picking robot flexible load the rationality of the modeling and Simulation of rigid flexible coupling.The simulation of frequency and damping ratio into input shaping control algorithm, tomatoes on the vibration suppression, and the simulation in MATLAB, the simulation results with and without plastic surgery before the simulation results, effectiveness of the input shaping control algorithm is derived, and further verify the correctness of model and simulation.