Researches on a highquality tea parallel plucking robot were carried out innovatively combined with the parallel mechanism and tea plucking techniques. An inverse kinematics model was established and the inverse kinematics solutions were calculated using homogeneous coordinate transformation. A given motion excitation was applied on the moving platform and the responded rotationangle curves of the driving arms were plotted in MATLAB. 3D model of the robot was built using Pro/E software, and then it was imported into ADAMS to set up a virtual prototype. Results obtained from the above two methods prove the correctness of the inverse kinematics calculation and the accuracy of the simulation in ADAMS. A physical prototype was manufactured.
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高凤,陈勇,车军,陈君.名优茶并联采摘机器人逆向运动学分析[J].机床与液压,2015,43(15):7-10. . Inverse Kinematics Analysis of a Highquality Tea Parallel Plucking Robot[J]. Machine Tool & Hydraulics,2015,43(15):7-10