毕业设计（论文）-苹果采摘机器人结构设计及控制系统分析.doc

第*章 具体章节标题 本科学生毕业论文 设计题目： 苹果采摘机器人结构设计及控制系统分析 学 院： 机电工程学院 年 级： 2015级 专 业： 机械设计制造及其自动化 姓 名： 学 号： 指导教师： 2019年5月10日 PAGE PAGE I 摘要 目前，因为苹果采摘仍然十分困难，采摘自动化水平也非常低，因而，苹果采摘机技术在农业上不容置疑是未来的战略性高技术，也充满了很好的时机和挑战。在21世纪的今天，世界各国都面临着老龄化的问题，随之劳动力也不容易得到，成本也在不断提高。 因此，开发苹果采摘机器人的机械化，智能化和自动化技术非常重要。 国内外关于苹果采摘机器人仍然处于实验阶段，在实际的应用中依然很艰难，主要的原因是苹果采摘机器人具体的结构设计还存在许多不足。由于苹果是球体，三自由度的苹果采摘机器人可以达到实现的目的，但是为了提高苹果采摘机器人的灵活度和避障能力，通过查阅资料，设计了具有六个自由度的串联式苹果摘取机械结构。 苹果采摘机器人的控制也是非常重要的，自动化水平的提高，苹果采摘的效率才能相应的提高，苹果采摘需要对苹果识别，苹果定位及避障加以控制。 全套图纸加扣 3012250582 关键词 采摘机器人；结构设计；苹果识别；苹果定位 Abstract At present, because apple harvesting is still very difficult and the level of automation is very low, the technology of Apple harvester in agriculture is undoubtedly the future strategic high-tech, but also full of good opportunities and challenges. Today, in the 21st century, all countries in the world are facing the problem of aging. With this, the labor force is not easy to obtain, and the cost is also rising. Therefore, it is very important to develop the mechanization, integration and automation technology of apple picking robot. At home and abroad, the apple picking robot is still in the experimental stage, and it is still very difficult in practical application. The main reason is that the concrete structure design of the apple picking robot still has many shortcomings. Because the apple is a sphere, the three-degree-of-freedom apple picking robot can achieve the goal, but in order to improve the flexibility and obstacle avoidance ability of the apple picking robot, through consulting the data, a six-degree-of-freedom serial apple picking mechanical structure is designed. The control of apple picking robot is also very important. With the improvement of automation level, the efficiency of apple picking can be improved accordingly. Apple picking needs to be controlled by Apple recognition, Apple location and obstacle avoidance. Key words Picking Robot; Structure Design; Apple recognition; Apple location