| More and more innovated and improved agricultural equipment enters the field of agricultural production after modernized agricultural and marketed high-tech.As kinds of agricultural equipment,picking robot still stands on the top in the field of agricultural production,it also makes it possible to solve the problem of labor shortage in China and agricultural production intelligent.Xinjiang is the most competitive producing areas and main export base of quality cotton in China,production of cotton is more than half of the whole country,but it makes input increased and low picking efficiency by picking on hand.To solve the predicament in the cotton picking,this article puts the point on the study on picking robot's arm with 5-DOF,including the following aspects:(1)Mechanism design for cotton picking robot.Robot's arm with 5-DOF is designed which is based on the requirements and working environment of cotton picking.The parameters' optimization design of the robot framework and structure with 5-DOF is made in this paper,and the selection of suitable energy supply facility and dynamic output device for the robot is made in this paper,too.(2)Kinematics analysis and workspace simulation of picking robot's arm.For the studying of arm's kinematic parameter,the kinematic model of cotton picking robot is founded by Denavit-Hartenberg method.The inverse kinematics is obtained by reduced inverse transformation method.The robot's workspace is worked out and simulation by the Matlab software.(3)Development and test on the cotton picking robot's arm.Prototype is taken as the research object for verifying of the robot's practicality.The size of workspace and the diversity of the robot attitude are verified. |
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