The Research On Mechanical System Design And Key Technology Of Chinese Prickly Ash Picking Robot

In this paper,the Chinese prickly ash picking robot is taken as the research object.On the basis of fully investigating the environment of Chinese prickly ash picking environment,the requirements and design parameters of the picking robot system are put forward,and the scheme of the picking robot system is determined.The key technologies and problems of the robot mechanical system are studied.The mechanical system design scheme was put forward,and the key problem research and feasibility analysis were carried out,which laid a theoretical foundation for the design of the mechanical system of Chinese prickly ash picking robot.(1)Based on the geographical characteristics of the actual growth environment of the Chinese prickly ash and the biological characteristics of the Chinese prickly ash tree,the mechanical system of the Chinese prickly ash picking robot is designed and the three-dimensional model is established.According to the design parameters of the Chinese Prickly Ash picking robot,the motor of each part was calculated and selected,and the driving mechanism was designed and calculated.(2)According to the biological characteristics and picking requirements of Chinese prickly ash,the end of the picking robot,that is,the picking mechanism,was designed systematically.The end of the rack-type picking execution was designed and the three-dimensional model was established to simulate the working process.(3)Based on the D-H parameter method,the kinematics equation of the robotic arm of the picking robot was established,and the kinematics analysis was carried out to obtain the forward and inverse solutions of kinematics.The robotic arm model of the Chinese prickly ash picking robot was established in the Matlab software robot toolbox.The picking work space cloud map of the Chinese prickly ash picking robot was obtained through simulation.The spatial comparison between the space cloud image and the actual Chinese prickly ash tree growth was carried out to determine the picking work of the Chinese prickly ash picking robot.space.(4)Using the spatial linear interpolation algorithm and the spatial circular interpolation algorithm in the right-angle space coordinate system,the robot can be moved according to the preset working path,and the joints of the mechanical arm joints can be obtained to obtain the joints of the mechanical arm.Angular acceleration,angular velocity,angular displacement map.The designed picking robot arm is suitable for the picking work of Chinese prickly ash,which proves the rationality of the designof the picking robotic arm of the picking robot.