蘋(píng)果采摘機(jī)械手分析的論文及仿真

1、本科生畢業(yè)論文（設(shè)計(jì)） 本科生畢業(yè)論文（設(shè)計(jì)）題 目: 基于Pro/E和ADAMS的蘋(píng)果采摘機(jī)械手的仿真分析 姓 名:張耀龍 學(xué) 院:工學(xué)院 專(zhuān) 業(yè):農(nóng)業(yè)機(jī)械化及其自動(dòng)化 班 級(jí):74 學(xué) 號(hào):3017417 指導(dǎo)教師:姬長(zhǎng)英

2、 職稱(chēng): 教授 2011 年5 月20 日南京農(nóng)業(yè)大學(xué)教務(wù)處制2基于Pro/E和ADAMS的蘋(píng)果采摘機(jī)械手的仿真分析農(nóng)業(yè)機(jī)械化及其自動(dòng)化專(zhuān)業(yè)學(xué)生 張耀龍指導(dǎo)老師 姬長(zhǎng)英 摘要：本文介紹了國(guó)內(nèi)外農(nóng)業(yè)機(jī)器人的發(fā)展概況和采摘機(jī)械手的應(yīng)用前景。通過(guò)對(duì)多種不同結(jié)構(gòu)機(jī)械手的優(yōu)缺點(diǎn)分析，提出了一種結(jié)構(gòu)簡(jiǎn)單、操作方便的機(jī)械手結(jié)構(gòu)。利用三維建模軟件Pro/Engineer進(jìn)行機(jī)械手各零部件的設(shè)計(jì)，并將其組裝成一個(gè)完

3、整的機(jī)械手。將機(jī)械手裝配圖導(dǎo)入仿真分析軟件ADAMS中進(jìn)行機(jī)械手的仿真。運(yùn)用求解器模塊Adams/Solver進(jìn)行機(jī)械手的靜力學(xué)、運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)運(yùn)算。利用后處理模塊Adams /Postprocessor進(jìn)行仿真視頻和各種數(shù)據(jù)曲線(xiàn)的輸出。通過(guò)對(duì)仿真結(jié)果的分析，對(duì)蘋(píng)果采摘機(jī)械手的研究方向提出了展望。關(guān)鍵詞：機(jī)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