装谷物机械臂的结构设计与仿真

装谷物机械臂的结构设计与仿真装谷物机械臂的结构设计与仿真摘 要本论文在综述机械手的研究和发展现状的基础上，结合现代化农业机器人的发展趋势，全面分析了装谷物机械手功能进行结构设计及动态仿真分析。本论文所设计的机械手臂采用圆柱坐标系的机械结构形式，主要分为以下五大的设计：1）底座和立柱的设计； 2）竖直臂升降的设计；3）水平臂伸缩的设计；4）机械臂的旋转的设计；5）抓取机构的设计。同时对机械手臂的执行机构进行设计，对各个驱动元件的行程，定位等进行筛选，选出最适合的型号，以满足机械手臂在运行中的定位精度以及运动速度等方面的要求。然后根据各个模块之间的连接关系设计连接件的结构，最后对机械手臂进行三维建模与动态仿真。关键词：机械手臂，结构设计，仿真分析Structure DesignAnd Simulation Of Grain Loading ManipulatorAbstractOn the basis of summarizing the research and development of the manipulator, combining the development trend of the modern agricultural robot, the paper analyzes the structure design and dynamic simulation of the grain-loading manipulator.In this paper, the design of the mechanical arm using the mechanical structure of the Cylindrical coordinate system, mainly divided into the following five modules: 1) design of Base and Column Module; 2) design of vertical arm lifting module; 3) design of horizontal arm expansion module; 4) design of rotating module of mechanical arm; 5）design of Mechanical Claw Module.At the same time, the actuator of the manipulator is designed, the stroke and location of each driving element are screened, and the most suitable model is selected to meet the requirements of the manipulator in positioning accuracy and moving speed. Then, according to the connection relationship between each module, the structure of the connector is designed. Finally, the 3D modeling and dynamic simulation of the manipulator are carried out.Keywords: Mechanical arm, structural design, simulation...