蘋果采摘機械手分析的論文及仿真

1、本科生畢業(yè)論文（設計） 本科生畢業(yè)論文（設計）題 目: 基于Pro/E和ADAMS的蘋果采摘機械手的仿真分析 姓 名:張耀龍 學 院:工學院 專 業(yè):農(nóng)業(yè)機械化及其自動化 班 級:74 學 號:3017417 指導教師:姬長英

2、 職稱: 教授 2011 年5 月20 日南京農(nóng)業(yè)大學教務處制2基于Pro/E和ADAMS的蘋果采摘機械手的仿真分析農(nóng)業(yè)機械化及其自動化專業(yè)學生 張耀龍指導老師 姬長英 摘要：本文介紹了國內(nèi)外農(nóng)業(yè)機器人的發(fā)展概況和采摘機械手的應用前景。通過對多種不同結(jié)構(gòu)機械手的優(yōu)缺點分析，提出了一種結(jié)構(gòu)簡單、操作方便的機械手結(jié)構(gòu)。利用三維建模軟件Pro/Engineer進行機械手各零部件的設計，并將其組裝成一個完

3、整的機械手。將機械手裝配圖導入仿真分析軟件ADAMS中進行機械手的仿真。運用求解器模塊Adams/Solver進行機械手的靜力學、運動學和動力學運算。利用后處理模塊Adams /Postprocessor進行仿真視頻和各種數(shù)據(jù)曲線的輸出。通過對仿真結(jié)果的分析，對蘋果采摘機械手的研究方向提出了展望。關(guān)鍵詞：機械手； Pro/E； 三維建模； ADAMS； 仿真； Simulation of Apple Picking Manipulato

4、r based on Pro/E and ADAMSStudents majoring in Agricultural Mechanism and Automation Zhang YaolongTutor Ji Changying Abstract: This paper introduced the overview of the development of agricultural robots and the prospect

5、 of picking manipulat. By comparing the structure of different robots, analyzing the advantages and disadvantages, a kind of manipulat has been put forward which has a simple structure is easily operated. All the parts o

6、f the robot manipulat were designed, assembled with the help of Pro / Engineer. After leading the assembling drawing into the simulation software of ADAMS, the simulation was made through Adams/View. The statics, kinemat

7、ics, dynamics computation were carried out with Adams / Solver. The simulation videos Curve Data of simulation were obtained with the help of Adams / Postprocessor. By analyzing the results of the simulation, the prospec