Kinematics Analysis And Simulation Of Tea Picking Robot

With the development of tea picking machinery equipment,high efficiency and precision have become the most important requirements for tea picking today.Parallel robots have the advantages of high speed,high precision,and low inertia,which are in line with the requirements for tea picking.A scheme combining the parallel robot technology and the tea picking technology was proposed,and a tea picking robot with selective picking was studied to realize automatic picking of tea.Firstly,the body parallel mechanism and the end picking actuator of the tea picking robot are designed.Through the static balance analysis and starting from the actual tea picking work environment,the size parameters of the mechanism are determined.Then for the parallel mechanism,based on the vector method and space mechanics,the simplified model and coordinate system of the mechanism are established.Using the vector relationship,the kinematics displacement equation and the forward and reverse displacement solution equations of the mechanism are deduced.The forward and backward displacements are designed and programmed.Solve the solution program and give a corresponding example to lay the foundation for the follow-up study.Through the three-dimensional visualization of the working space,it is verified that the robot workspace meets the design requirements.Then by introducing the first-order motion coefficient,the Jacbi matrix of the tea-picking robot is calculated,and the robot's speed Jacobian matrix and the acceleration Jacobian matrix are obtained.The singularity of the robot is analyzed,and the problem of solving the singularity is turned into non-Linear equations solving problem.Finally,the established robot geometry model was imported into ADAMS simulation analysis software,and the robot kinematics simulation analysis was performed.The displacement,velocity,acceleration and other information of the moving platform and the active arm were obtained.The analysis results obtained by the forward and reverse solutions given are basically consistent with the results obtained by ADAMS software simulation.It can be seen that the design strategy of the tea picking robot using the parallel mechanism is feasible and the design result is good,which proves the vector-based method and space mechanism.The kinematics equations obtained are correct and valid.It also verifies the correctness of velocity analysis and acceleration analysis based on the Jacobian matrix.