林业修剪机器人运动学、动力学仿真-机械设计及理论专业论文.docx

The The Kinematics aⅡd I枷amies Simulation of the Forestry Sl口eeial Robot for theⅡedge Pruning Hedge-pruning is labor and time-consumed and dangerous job On highway and in the park,so it is Irend to substitute robot for labor．study On realization of multi-purl∞sed mobile robot,funded by Nanjing Forestry University,was put forward for hedge-prtming and grass-eu-tting． This paper mainly focused On the simulation ofthe forestry special robot for hedge pruning, finished the prophase development ofthe robot,prepared for the Manufacture and design oftlac real robot．I designed the simple model which has four revolute joints aR盯measuring and 8nalyzing the task and the object Firstly,based 013．the D-H method,it built the coordinate Oil the joints，established the kinematics equations and solved the Joreobi matrix．As to the r芎¨靠∞kinematics ofmy robot,it used the geometry method to get the results when the end part ofthe robot was in two situations which 011e is line trac,e and another one is the a∞Irate． Secondly,it calculated the wmb；pace ofthe robot’s workspace．The workspaee is critical for the design of my robot,based On the Moterkalo arithmetic，I acquired the picture of the workspaee of my robot in MATLAB．if the Wolkspace could not satisfy the request,it should reset the parameters ofthe robot to recalculate the workspaee in MATLAB． Thirdly,it built the simple model ofmy robot in the ProEngineer software，and Iransmitted it into the ADAMS／VIEW by using the interface software MACHANISh卯ro．it defined the body and set the joints in the hmcHANISM伊ro before the robot model was mmsmitted into ADAMS／VmW,and set the motion in the ADAMS． Fourthly,the important step ofthis thesis is the kinematics and dymmies simulation ofrobot, it acquired the joints’例州鹤 by M棚．AB，sIMIⅡ．DⅡin which it built the kinematics procedure and托Ve嫩l【in既n豳ptoccdllle， and imported the joint c：llrves into the AD^MS，、1匝Ⅵ，to drive thejoints ofthe robot．．Aeeording to the result ofthe simulation,it c锄 got many data