摘 要作为世界水果生产第一大国，我国的水果行业在水果分拣方面一直面临巨大挑战，为迎合市场实际需求现设计一款水果分拣平台，该平台的核心机构为六自由度机械臂是，由一系列关节连接起来的连杆所组成，各零件间用螺栓和螺母连接，转动轴配有轴承。在满足设计要求和强度的情况下，尽量减少材料用量。用 D-H 法求解给定六自由度机械臂的位姿矩阵与运动学方程，建立出相应的数学模型，利用 MATLAB 软件进行编写程序，利用好结构参数，求出方程的最佳结果，因为每个关节都有相对应最佳转角，对各个末端执行器求解并进行运动仿真。为提高仿真程序的普适性，在手爪末端添加一个移动自由度。关键词: 水果分拣平台 六自由度机械手 MATLAB北京理工大学珠海学院 2020 届本科生毕业设计或论文AbstractAs the world's largest fruit production country, China's fruit industry has been facing great challenges in fruit sorting. In order to meet the actual demand of the market, a fruit sorting platform is designed. The core mechanism of the platform is a 6-DOF mechanical arm, which is composed of a series of connecting rods connected by joints. The parts are connected by bolts and nuts, and the rotating shaft is equipped with bearings. Under the condition of meeting the design requirements and strength, the material consumption shall be minimized. The D-H method is used to solve the pose matrix and kinematics equation of the given six degree of freedom manipulator, and the corresponding mathematical model is established. The MATLAB software is used to program, and the structural parameters are used to get the best result of the equation. Because each joint has the corresponding optimal angle, each end actuator is solved and the motion simulation is carried out. In order to improve the universality of the simulation program, a moving degree of freedom is added at the end of the gripper.Key words: fruit sorting platform 6-DOF manipulator matlab北...
