的矛盾[1-2]。严重影响了苹果生产产业的健康发展，因此迫切需要引入能够替代或减小人力工作量的机械HydraulicsPneumatics&Seals/No.1.2024doi:10.3969/j.issn.1008-0813.2024.01.007基于负压式苹果采摘机器人末端设计及仿真张静，韩东亚，宋洋，卞革（兰州理工大学能源与动力工程学院,甘肃兰州730050)摘要：为提高苹果采摘效率，实现无损化、高效化采摘。设计出一种基于负压式末端执行器的六自由度采摘机器人，并对基于负压式设计的末端结构进行验证。后基于SD-H参数法对机器人进行正逆运动学求解，运用ADAMS仿真软件对采摘机械臂进行运动学和动力学仿真分析。对末端吸口中心点和各关节点进行监控获取末端吸口位移、速度、加速度与各关节力矩曲线。分析曲线表明：机械臂运动过程平稳无突变，采摘苹果产生冲击力对机械臂各关节影响较小，机械结构设计合理，可满足采摘工作需求，并对后续路径规划提供基础依据。关键词：苹果采摘机器人；负压式末端执行器；六自由度机械臂；运动分析中图分类号：TH137TerminalStructureDesignandMotionSimulationofApplePickingRobot(ColleageofEnergyandPowerEngineering,LanzhouUniversityofTechnology,Lanzhou730050,China)Abstract:Inordertoimprovetheefficiencyofapplepickingandrealizenondestructiveandefficientpicking.Inthispaper,a6-DOFpickingrobotbasedonnegativepressureendeffectorisdesigned,andtheendstructurebasedonnegativepressuredesignisverified.Afterthat,theforwardandinversekinematicsoftherobotaresolvedbasedonSD-Hparametermethod,andthekinematicsanddynamicsofthepickingmanipulatoraresimulatedandanalyzedbyADAMSsimulationsoftware.Monitorthecenterpointandjointpointsoftheendsuctionporttoobtainthedisplacement,speed,accelerationandjointmomentcurvesoftheendsuctionport.Theanalysiscurveshowsthatthemotionprocessoftherobotarmisstableandthereisnosuddenchange,andtheimpactforcegeneratedbypickingappleshaslitleinfluenceoneachjointoftherobotarm,andthemechanicalstructuredesignisreasonable,whichcanmeetthedemandofpickingworkandprovideabasicbasisforsubsequentpathplanning.Keywords:applepickingrobot;negativepressureendeffector;6-DOFmanipulator;motionanalysis0引言苹果作为我们生活中最常见的水果之一，在我国的种植规模、产量以及消费数量均居世界...
