棉花采集机械手设计.docx

燕京理工学院毕业论文 PAGE \* MERGEFORMATII 棉花采集机械手的设计 摘 要 针对国内棉花采收存在的问题，提出了运用棉花采摘机械手代替人工和采棉机采收的方法。在对棉花农业特性及收获特性分析的基础上，结合新疆棉花种植模式以及棉花采摘要求，遵循机械手设计原则，设计了一种5自由度多行采收的关节型棉花采摘机械手。为使机械手能够高效灵活地收获口标空间棉铃，尽可能减小机械臂的操作空间和结构尺寸，结合采摘对象棉铃的生长分布空间和作业要求，分析了在给定空间下的设计变量、优化口标和约束条件，建立了优化设计的数学模型，并利用MatLab优化工具箱进行编程，实现了棉花采摘机械手的机构参数优化。 关键词：棉花 采摘机械手 机构设计 工作空间 优化设计  Design of Manipulator for Cotton Collection Abstract In view of the domestic cotton harvesting problems, and puts forward the method of using artificial cotton and cotton picker harvesting instead of picking manipulator. Based on the analysis of characteristics of agriculture and harvest characteristics of cotton, cotton planting pattern and the combination of Xinjiang cotton picking requirements, follow the manipulator design principles, design a 5 degree of freedom for recovery the joint type cotton picking manipulator. The manipulator can harvest effectively target space boll, operating space and structure size as much as possible to reduce the mechanical arm, with the growth of the spatial distribution of Boll picking object and operating requirements, analyzes the design variables in a given space, optimize the export standard and constraints,The mathematical model of optimal design is established, and the optimization of the mechanical parameters of the cotton picking manipulator is realized by using the MatLab optimization toolbox Key words: Cotton Picking Manipulator Mechanism Design Workspace Optimization Design PAGE \* MERGEFORMATV 目 录  TOC \o 1-2 \h \z \u  HYPERLINK \l _Toc477113798 绪 论  PAGEREF _Toc477113798 \h 4  HYPERLINK \l _Toc477113799 第1章 棉花采摘机械手机构设计  PAGEREF _Toc477113799 \h 5  HYPERLINK \l _Toc477113800 第1.1节 目标采摘区域与对象分析  PAGEREF _Toc477113800 \h 5  HYPERLINK \l _Toc477113801 第1.2节 棉花采摘机械手机构设计  PAGEREF _Toc477113801 \h 5  HYPERLINK \l _Toc477113802 第1.3节 研究现状  PAGEREF _Toc477113802 \h 6  HYPERLINK \l _Toc477113803 第2章 棉花采摘机械手机构参数的优化设计  PAGEREF _Toc477113803