Authors

Abstract

Robotic simulations are an effective approach to validate various models and design schemes. A tomato sorting Delta parallel mechanism was validated in this study for the purposes of end-effector motion planning via simulation analysis. Real-world conditions of the robot as well as its forward and inverse kinematics were obtained, followed by simulation analysis to determine whether its workspace meets relevant operation requirements. The motion trajectory of the end-effector is planned according to the simulation results and the motion requirements for tomato sorting. A sine modified trapezoidal acceleration curve is applied as the motion law on the arc trajectory of the end-effector; said motion trajectory is found to be smooth and conducive to stable running of the robot based on MATLAB software analysis. A prototype was designed based on the simulation results and utilized to successfully complete 31 sorting tasks in one minute while smoothly and stably running.

Abstract in Chinese

机器人仿真是验证模型正确性和设计方案可行性的重要方法，为了验证番茄分拣Delta机器人尺寸的设计合理性，以及对机器人末端执行器进行运动规划，本文仿真分析了番茄分拣Delta机器人的作业空间，规划了末端执行器的运动轨迹。首先，分析番茄分拣Delta机器人实际的情况，求取Delta机器人末端执行器的运动学正解和逆解，仿真分析Delta机器人的作业空间，验证了其作业空间是否满足作业要求。然后，根据番茄分拣的运动要求，规划末端执行器的运行轨迹。在末端执行器的圆弧运动轨迹上，采用正弦修正梯形加速度曲线作为运动规律。采用MATLAB软件，仿真验证了番茄分拣Delta机器人末端执行器的运动轨迹平滑，运行平稳。基于仿真结果设计试验样机，并进行番茄分拣试验，结果表明该番茄分拣Delta机器人能够完成31次/min的番茄分拣任务，且运行平稳。证明了将Delta机器人用于番茄分拣的可行性，以及作业空间和轨迹规划的合理性。