毕业设计（论文）-草莓采摘机械手结构设计.doc

果实采摘机械手结构设计 The Design of Fruit Picking Manipulator’s structure 果实采摘机械手结构设计 PAGE I 摘 要 果实采摘机械手目前在农业领域中占据着重要的位置，它不仅仅是衡量一个企业甚至是一个国家农业发展水平先进程度的重要标准之一，而且它能够提高工作效率，从而为人类带来很高的经济效益。 本次果实采摘机械手是专门为草莓采摘而设计的，根据草莓种植的特点确定了机械手的结构是五自由度，其中包括三个负责旋转的关节和两个负责移动的关节，并且根据多渠道的资料参考最终确定了机械手的主要尺寸以及性能参数。其中最为主要的是电机的选择，因为电机是整个机械手作业的动力来源，只有根据机械手作业的实际情况、进行相应的计算，才能够选择理想的电机，从而根据电机对机械手的尺寸进行优化和整改。在最终方案出来后，可以确定机械手的电机可以满足作业需要。 本次设计通过Pro/E等制图软件对机械手进行三维建模和运动仿真，通过对机械手薄弱部分进行相应的校核计算以及机械手运动轨迹的模拟，对机械手的运动行程也进行了相应的优化，从而可以确定机械手可以满足作业需要。 关键词：果实采摘；机械手；三维仿真；作业空间 全套图纸加扣 3346389411或3012250582 PAGE II ABSTRACT Fruit picking manipulator is playing a significant role in the field of agriculture at present. Because it is not only a important standard to show the agricultural level of companies or countries, but also could it improve the work efficiency so that the human will get more economic benefit. This fruit picking manipulator is designed for the strawberry. The manipulator has five degrees of freedom, which includes three rotary joints and two mobile joints. Besides, we also confirm the size of the manipulator in the end. What is the most important is that we have to choose the ideal electrical machines, which is playing a decisive role in the manipulator’s power, to optimize the manipulator’s size by count and the condition of the moving manipulator. Only in this way, can we improve the manipulator’s performance. Finally, we make sure that the electrical machines of the manipulator can fit the bill. Pro/E is used to set up the models of the manipulator in this project. In addition to, what is the most important is that we have to optimize the route of the manipulator by simulating the movement of the manipulator and the strength of the manipulator. Finally, we make sure that the manipulator can fit the bill. Key words: Fruit picking; Manipulator; Models; Space 果实采摘机械手结构设计 PAGE III 目 录 第1章 绪论1 1.1 课题背景1 1.2 研究的目的和意义1 1.3 国内研究现状2 1.4 国外研究现状3 1.5 发展趋势4 1.6 课题研究内容5 第2章 机械手总体方案设计7 2.1 对草莓特性的认识7 2.