| As a high-end tea beverage,famous tea is deeply loved by consumers.However,due to the short picking cycle of famous tea,the labor intensity of manual picking,and the shortage of tea picking workers in recent years,the output of famous tea has dropped sharply,and the production cost has increased sharply,which is difficult to meet the market demand.A lot of research has been done on bulk tea picking institutions at home and abroad,but few researches on famous tea picking institutions are limited to the use of existing industrial robot arms.In this paper,combined with the growth environment and picking requirements of famous tea,the design and motion control of the special robot arm for famous tea picking are carried out.The main research work is as follows:1.Selection of robot arms.Taking the actual environment of the tea garden as the premise,combined with the picking requirements of famous tea buds,this paper analyzed the requirements that the robot arm needs to meet when picking famous tea,and then selected a lightweight robot arm for famous tea picking by comparing the advantages and disadvantages of different types of robot arms.2.Kinematics analysis of the robot arm.According to the selected configuration of the robot arm,drew a three-dimensional model and a simple structure diagram,and derived its forward and inverse kinematics based on the geometric relationship between the parts of the robot arm;then analyzed the singularity of the robot arm based on the Jacobian Matrix of the robot arm;Finally,the Monte Carlo method was used to solve the working space of the robot arm and the effective working range of the robot arm when picking famous tea.3.Robot arm trajectory planning.In Cartesian space,S-shaped velocity curve and Bezier curve were used to plan the picking path of famous tea,and then based on the kinematic model of the robot arm,the end motion trajectory was converted into the motion trajectory of the driving joint,and the data was visualized.A comparative analysis of the motion trajectories of the drive joints was obtained under the two planning methods.4.Dynamic analysis of the robot arm.Based on the kinematics model of the robot arm,the acceleration of each component was analyzed,and the corresponding relationship between the driving force or torque of each joint of the robot arm and the motion trajectory of the end was established;then the dynamic co-simulation was performed by Adams and Matlab/Simulink;Finally,the sliding mode motion controller was designed based on the dynamic model of robot arm,and the control simulation of the robot arm was carried out by using Matlab/Simscape.5.Prototype construction and experimental research.Assembled the prototype according to the three-dimensional model of the robot arm,built the hardware system and designed the control program at the same time,debugged the prototype indoors and collect test data for analysis. |
