关键词: 修剪机器人, 运动学分析, 有效空间, 全域性能指标, 有限元分析

Abstract: In order to meet the needs of the diversified landscape hedge trimming model for the working space, structural rigidity and strength of the trimming robot, a fivedegreeoffreedom trimming robot structure for garden green plants was designed. First, the D-H method was used to model and kinematics analysis of the robot, and the Monte Carlo method was used to obtain the robots working space; Then, with spherical hedges as the pruning target, the dimensions of the main rods of the robot arm structure were determined based on the robots effective spatial volume ratio and velocity full domain performance indexes. Finally, the finite element static and vibration modal simulations were performed for the boom structure. The simulation results showed that when the size of the big arm was 800 mm, the size of the forearm was 900 mm, and the size of the wrist arm was 350 mm, the vertical trimming range of the robot was 0-2 000 mm, and the horizontal trimming range was from -1 300 mm to 1 300 mm, and the working space could meet the demand of garden hedge pruning; The maximum equivalent stress of the boom structure was 34245 MPa, and the maximum deformation was 1897 1 mm. The rigidity and strength can meet the requirements of technical indicators, and its natural frequency can effectively avoid external frequencies and avoid resonance. This research provides a mechanical structure design method and scheme for the development of a landscape hedge trimming robot, which has certain application value.

Key words: pruning robot, kinematic analysis, effective space, global performance index, finite element analysis