小浆果采摘机械手设计.doc

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毕业设计说明书(论文)
小浆果采摘机械手设计
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摘要
水果和蔬菜是人类生活中必不可少的食物,种植面积和产量逐年提高。研究开发适合目前农业生产实际的果蔬采摘机器人,不仅可以很大程度减轻劳动强度、提高生产效率,而且具有广阔的应用前景。
本文在充分了解国内外相关研究和应用现状的基础上,对小浆果采集机械手进行了研究。分析了机械手的组成结构、各组成部分的功能、工作原理完成了采摘机械手部分的设计。包括腰部转动关节、大臂、小臂、腕部、末端执行器具体结构的设计,该机械手具有较好的工作空间、运动学特性,能够满足小浆果采集的工作要求,
在提高工作效率和采摘质量的同时,应考虑尽量降低小浆果采集机械手的制造成本,提高其通用性,以期实现小浆果采集的商业化。
关键词:小浆果采集;机械手;采集机械手;小浆果;机械手设计
ABSTRACT
Fruit and vegetables are absolutely necessarily food in our lives,the planted and output of them is boosting yearby and development about robot for picking fruit and vegetables that adapt to growth practical at present, not only canalleviate intensity of labour and advance productivity effect,also have expansive appliedp rospect.
In this paper, both at home and abroad to fully understand the current situation related to the research and application on the basis of the collection of small berries manipulator is studied. Analyzed position of the structure of robot,ponent of the function, working principle of pletion of part of the picking robot design. Including the arm, forearm, wrist,the end of the specific structure of the actuator design. The design of rotating the waist joint, the manipulator has a good working space, kinematic properties, to meet the small berries collected requirements.
In improving the efficiency and quality at the same time picking,consideration should be given to minimize the collection of small berries robot manufacturing costs and enhance its versatility with a view to achieving a small business of collecting berries.
Key words: Small berries collected; Manipulator; Collection Manipulator; Small berries; Manipulator design
第1章绪论
机器人概述
在现代工业中,生产过程的机械化、,加工、;程控机床、数控机床、,还有大量的装卸、搬运、装配等作业,,为这些作业的机械化奠定了良好的基础。
“工业机器人”(Industrial Robot):多数是指程序可变(编)的独立的自动抓取、