草莓采摘机器人机械结构设计详解.doc

草莓采摘机器人机械结构设计 摘要 随着草莓种植的推广。国内草莓种植面积迅猛增加，收获劳动力不足。严重制约草莓种植的发展，因此有必要进行智能草莓采摘机器人研究，来替代人来完成该项费时、费力的采摘工作。草莓采摘机器人要求能自动检测成熟草莓的位置信息，然后根据这些信息控制机器人的执行机构动作，实现草莓采摘的自动化。 本文首先综合叙述了草莓生产现状以及草莓采摘机器人国内外研究状况，再根据国内北方地垄式草莓种植的情况，，提出一种五自由度关节型草莓采摘机械手五个自由度：腰转、肩转、肘转、腕转和腕摆，并开发了一种末端执行器的结构形式。与此同时，在solidworks中构建了草莓采摘机器人、末端执行器的三维模型，还生成了工程图，便于后期的。 Strawberry picking robot mechanical structure design Abstract： With the popularization of the strawberry. The strawberry planting area increased rapidly, the harvest labor shortage. Development is restricted by the strawberry, it is necessary to carry out intelligent strawberry harvesting robot, instead of people to complete the time-consuming, laborious harvesting. Strawberry picking robot position information requirements can automatically detect ripe strawberry, then according to these information to control the robot actuator, realize the automation of picking strawberry. This paper describes comprehensively the research status at home and abroad as well as the robot strawberry production status of strawberry picking, then according to the North ridge type strawberry planting conditions, calculate and design the appropriate size of the strawberry picking vehicle body, put forward a kind of five degrees of freedom articulated strawberry picking manipulator, and the development of the structure of an end effector. At the same time, the author constructs a 3D model, strawberry picking robot end effector in SolidWorks, also generated the end effector and the mechanical arm of the engineering drawing, convenient for later viewing and processing. Key words: Strawberry picking robots; Mechanical body;Five degree of freedom manipulator; The end effector 目 录 1 绪论 1 1.1 引言 1 1.2 工作环境和作业要求 1 1.3 草莓采摘机器人国内外发展状况 2 1.3.1国外研究现状 2 1.3.2 国内研究现状 2 1.4 研究的目标和内容 3 1.4.1 研究目标 3 1.4.2 研究内容 3 2 草莓采摘机器人机械本体设计 3 3 草莓采摘机器人五自由度机械手臂设计 4 3.1 采摘机器人机构选型原则 4 3.2 机械臂的设计 5 3.2.1 设计要求 5 3.2.2 机械手臂的选择 6 3.3 机械手手腕的设计 6 3.3.1 手腕设计的基本要求 7 3.3.2 草莓采摘机械手手腕的结构型设计 7 3.4 机械手的结构型式 7 3.5 机械手运