毕业设计（论文）-番茄采摘机械手结构设计及仿真说明书.doc

XX设计（XX） 题目： 番茄采摘机械手结构设计及仿真 院系： 专业： 学号： 姓名： 导师： 20XX年05月 教务处制 PAGE 3 PAGE 3 PAGE PAGE 19 摘要 本文介绍了常用于番茄采摘的五自由度机械手的总体结构和具体结构，并进行了基于UG和ADAMS的运动学仿真。 根据本课题论文的要求，论文选择机械手的工作内容为番茄采摘机，根据机械手的工作内容即采摘机功能设置机械手的工作环境和性能要求。提出了采摘机机械手的课题研究计划和研究方案。设计方案包括将机器手的构成和自由度分配问题。确定机器手每个手臂的长度以及各个关节的旋转角度范围。 然后用UG对机械手的进行简单建模，并且利用ADAMS软件对机械手进行运动学仿真和ADAMS软件对各关节的运动进行分析，得到关节曲线图。通过对曲线图的分析和研究，从而证明了机械手的设计是合理的。最后，后对设计出来的机械手采摘机过程进行合理的归纳和总结。 关键词：五自由度；建模；采摘机；运动仿真 ABSTRACT This paper describes the general structure and the specific structure of the 5-DOF manipulator commonly used in tomato picking, and performs kinematic simulations based on UG and ADAMS. According to the requirements of the dissertation, the paper selects the robots work content as the tomato picker, and sets the working environment and performance requirements of the robot according to the work content of the robot, ie, the picking machine function. A project research plan and research plan for the picker robot were proposed. The design proposal includes the allocation of robotic components and the degree of freedom. Determine the length of each arm of the robot and the range of rotation of each joint. Then use UG to carry on the simple modeling to the manipulator, and uses the ADAMS software to carry on the kinematics simulation to the manipulator and the ADAMS software to carry on the analysis to each joint movement, obtains the joint curve chart. Through the analysis and research of the graph, it is proved that the design of the robot is reasonable. Finally, after the design of the robot picker process to conduct a reasonable induction and summary. KEY WORDS:five degrees of freedom; modeling; picker; motion simulation 目录 TOC \o 1-3 \h \z \u 摘要 II ABSTRACT III 1引言 1 1.1课题的研究意义 1 1.2国内外研究现状及国内外发展趋势 1 1.3主要研究内容 2 2 采摘机机械手结构设计 3 2.1引言 3 2.1.1采摘机机械手工作环境 3 2.1.2采摘机机械手主要技术指标 3 2.2采摘机机械手的总体构成 3 2.2.1采摘机机械手的本体组成 3 2.2.2采摘机机械手自由度的分配 3 2.3采摘机机械手连杆参数确定 4 2.3.1连杆坐标系的建立 4 2.3.2连杆参数的确定 5