胡娜, 陈勇, 王红星. 农田信息采集机器人机构设计与奇异性分析[J]. 机器人, 2010, 32(3): 363-368.
引用本文: 胡娜, 陈勇, 王红星. 农田信息采集机器人机构设计与奇异性分析[J]. 机器人, 2010, 32(3): 363-368.
HU Na, CHEN Yong, WANG Hongxing. Mechanism Design and Singularity Analysis of an Information Collection Robot in Agricultural Fields[J]. ROBOT, 2010, 32(3): 363-368.
Citation: HU Na, CHEN Yong, WANG Hongxing. Mechanism Design and Singularity Analysis of an Information Collection Robot in Agricultural Fields[J]. ROBOT, 2010, 32(3): 363-368.

农田信息采集机器人机构设计与奇异性分析

Mechanism Design and Singularity Analysis of an Information Collection Robot in Agricultural Fields

  • 摘要: 提出一种四轮并联机构的新型农田信息采集机器人.结构和越障原理分析结果表明,该机器人具有较强的地形适应能力.为了研究机器人的奇异位形,根据雅可比矩阵的定义和D-H矩阵法直接求出雅可比矩阵的解析表达.根据机构的奇异性分类,利用动力学分析软件ADAMS仿真得到了各奇异位形的精确位置和运动特点,与理论分析相一致.根据以上分析设计的机器人物理样机能有效避免奇异位形.

     

    Abstract: A new type of field information collection robot with four-wheel parallel mechanism is proposed.Analysis on the structure and obstacle-crossing principles shows that the robot is of good terrain adaptability.In order to study the robot singularity loci,the analytic expression of Jacobian matrix is obtained directly based on its definition and D-H matrix method.According to the classification of singularity,dynamic analysis software ADAMS is employed to get the precise locations and kinetic characteristics of the singularity loci,which are in accordance with the theoretical analysis.The robot physical prototype based on these analyses is developed which can avoid the singularity loci efficiently.

     

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