The Design of Motion Principles and Kinematics Analysis of Hedge Pruning Robot

摘要：

Based on the status quo of low level automation equipment in green hedges operations,we carried out a subject research of greening operation mobile intelligent robot, provided the concept of robot motion principles in the research process, and expounded the content of design of robot motion principles. Combined with the hedges operational requirements, the position relation of hedge pruning mobile robot and the hedges, and the type of robot joint etc, we did movement principle of design of hedge pruning robot, proposed the design of equipped robot system with mobile object, and gave the diagram of hedge pruning robot system. With calculation, we provided the primary dimensions of equipped robot system with mobile object, and constructed a physical model of robot system. According to the D-H method, we did the kinematics analysis of robot, obtained the direct solution of robot kinematics and got the inverse solution by using inverse transform method.

关键词： hedge pruning robot movement principles kinematics

作者: Shuhai Jiang Ting He Pei Sun Li Chen Jingjing Tang

作者单位: Institute of Intelligent Control and Robotic Technology Nanjing Forestry University Nanjing, Jiangsu Institute of Intelligent Control and Robotic Technology Nanjing Forestry University Nanjing,Jiangsu,

会议类型: 国际会议

会议名称: The 10th International Conference on Intelligent Technologies(第十届智慧科技国际会议 InTech09)

会议地点: 桂林

会议语种:英文

页码: 187-191

在线出版日期: 2009-12-12（万方平台首次上网日期，不代表论文的发表时间）