Kinematics analysis and simulation of a flexible picking robot arm

doi:10.3785/j.issn.1006-754X.2024.03.135

Chinese Journal of Engineering Design

2024, Vol. 31

Issue (2): 230-237 DOI: 10.3785/j.issn.1006-754X.2024.03.135

Robotic and Mechanism Design

Kinematics analysis and simulation of a flexible picking robot arm

Weitao ZHANG(

),Dongjie ZHAO(

),Lu WANG,Xinmian BAO,Baosai HUANG

School of Mechanical & Automotive Engineering, Liaocheng University, Liaocheng 252059, China

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Abstract

Aiming at the shortcomings of rigid robot arm in fruit and vegetable picking, a flexible picking robot arm with simple structure and flexible movement was designed. Firstly, the kinematics model of the flexible picking robot arm was established based on the equal arc hypothesis, and the forward and inverse kinematics analysis from joint space to operation space and from driving space to joint space was carried out, as well as the decoupling analysis between the flexible joints. Then, the kinematics models of the flexible picking robot arm were numerically calculated by using MATLAB software, and the virtual prototype model of the flexible picking robot arm was established by ADAMS software. The kinematics simulation was carried out under the same working conditions as the theoretical analysis, and the accuracy of the theoretical analysis results was verified. The simulation results showed that the flexible picking robot arm could move flexibly and coordinatedly. The research results can provide a basis for the subsequent motion control of flexible robot arms.

Key words： flexible picking robot arm kinematics model simulation analysis

Received: 23 March 2023 Published: 26 April 2024

CLC:

TH 113

Corresponding Authors: Dongjie ZHAO E-mail: 1256587669@qq.com;zhaodongjie@lcu.edu.cn

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Cite this article:

Weitao ZHANG,Dongjie ZHAO,Lu WANG,Xinmian BAO,Baosai HUANG. Kinematics analysis and simulation of a flexible picking robot arm. Chinese Journal of Engineering Design, 2024, 31(2): 230-237.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.135 OR https://www.zjujournals.com/gcsjxb/Y2024/V31/I2/230

一种柔性采摘机械臂的运动学分析与仿真

针对刚性机械臂在果蔬采摘作业中的不足，设计了一种结构简单、运动灵活的柔性采摘机械臂。首先，基于等圆弧假设建立了柔性采摘机械臂的运动学模型，对其进行了从关节空间到操作空间和从驱动空间到关节空间的正、逆运动学分析以及各柔性关节之间的解耦分析。然后，利用MATLAB软件对柔性采摘机械臂的运动学模型进行了数值计算，同时利用ADAMS软件建立柔性采摘机械臂的虚拟样机模型，选用与理论分析相同的工况开展运动学仿真，验证了理论分析结果的准确性。仿真结果表明，该柔性采摘机械臂可实现灵活、协调运动。研究结果可为后续柔性机械臂的运动控制提供依据。

关键词： 柔性采摘机械臂, 运动学模型, 仿真分析

Fig.1 Structure of fruit and vegetable picking robot

Fig.2 Structure of flexible picking robot arm

Fig.3 Spatial mapping relation of flexible picking robot arm

Fig.4 Schematic diagram of coordinate system of flexible arm and distribution of rope holes of connecting seat

Fig.5 Schematic diagram of flexible joint motion

Fig.6 Schematic diagram of flexible joint bending motion

Fig.7 Inverse kinematics analysis process of flexible picking robot arm based on PSO

Table 1 Solution results of inverse kinematics for flexible picking robot arm

Fig.8 Schematic diagram of flexible unit structure

Fig.9 Schematic diagram of flexible unit fixed end section

Fig.10 Kinematics analysis results of flexible picking robot arm under single joint motion

Fig.11 Kinematics analysis results of flexible picking robot arm under combined motion of three joints

Fig.12 Virtual prototype model of flexible picking robot arm

Fig.13 Comparison of end position variation curves of flexible picking robot arm under different motion conditions


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