用人体负荷屈伸臂的力学过程,对林业球果采集机器人的采集球果的力学过程进行模拟.并基于此,根据生物力学原理,使用目前流行的系统建模仿真分析软件,对林木球果采集机器人采摘过程中轴传动受力情况进行分析.得出了机器人的肩关节和肘关节处轴的受力情况,同时用MATLAB中的Maple软件计算并绘制分析了此结果,最后用Solid Dynamics软件对分析结果进行验证,证明了理论分析的正确性.此研究取得了良好的效果,对未来林业球果采集机器人基于轴(关节)进行改进提供了重要的理论及参数依据.%The process that tree cone acquisition robot gets cones has been simulated with the process that human bends or stretches his arms in some load. And then the shaft driving force simulation of tree cone acquisition robot in the wording process was analyzed according to biomechanics laws by system modeling simulation analysis software that is used in current popular. The forces of the shafts at shoulder joint and elbow joint of the robot were analyzed, meanwhile, were calculated and drew up the figures by using Maple software. Finally, the analytical results verified the correctness of the theory analysis with Solid Dynamics software. And from the study, the findings provide important theory and parameters for improving the trees cones acquisition robot.
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