ZHAI Yukun,WEN Xuezhu*.Structure design and kinematics equations establishment of a hawthorn fruit harvesting machine[J].Journal of Yanbian University,2017,43(04):363-365.
一种山楂采摘机的机构设计及其运动方程建立
- Title:
- Structure design and kinematics equations establishment of a hawthorn fruit harvesting machine
- 分类号:
- TH11
- 文献标志码:
- A
- 摘要:
- 为实现机械式采摘山楂,设计了一种五自由度的山楂采摘机构.首先设计出山楂采摘机构简图,然后利用D -H参数表示法对机构简图建立相应的运动学方程,最后通过Matlab软件拟合出相应图形验证了方程的正确性.
- Abstract:
- To achieve the purpose of picking hawthorn with mechanical, a five-degree-of-freedom hawthorn fruit harvesting machine is designed. Firstly, a simpliied picture of hawthorn picking mechanism is designed. Then the corresponding kinematics equation is established by using the D -H parameter representation, and the corresponding graph is fitted out by Matlab software to verify the correctness of the equations.
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备注/Memo
收稿日期: 2017-10-26*通信作者: 文学洙(1963—),男,工学博士,教授,研究方向为机构学与机械动力学.