Kinematics Analysis and Simulation of Line-driven Hedge Trimming Manipulator
Aiming at the problem that hedge manipulators can’t work in complex and unstructured environments, a redundant line-driven hedge trimming manipulator with stronger environmental adaptability, higher degree of freedom and larger workspace is proposed. The kinematics model of single joint is establish...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.10.024 |
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| _version_ | 1841547375469920256 |
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| author | Xue Zan Luo Tianhong Chen Cai |
| author_facet | Xue Zan Luo Tianhong Chen Cai |
| author_sort | Xue Zan |
| collection | DOAJ |
| description | Aiming at the problem that hedge manipulators can’t work in complex and unstructured environments, a redundant line-driven hedge trimming manipulator with stronger environmental adaptability, higher degree of freedom and larger workspace is proposed. The kinematics model of single joint is established by coordinate analysis method, and the mapping relationship between rope length and joint rotation angle is solved. The forward kinematics mathematical model of 10-DOF manipulator is analyzed based on D-H parameter method. The inverse kinematics of redundant manipulator is studied by genetic algorithm, and the inverse kinematics of redundant manipulator is solved. The simulation results show that the genetic algorithm has high accuracy and fast solution. The coupling between the joints and ropes of the manipulator is analyzed and the decoupling formula is deduced. The correctness of forward and inverse kinematics model and decoupling model of the manipulator are verified by simulation, which lays a foundation for the control and trajectory planning of the rope-driven redundant manipulator. |
| format | Article |
| id | doaj-art-ecf8624c07004e448ec78f06ad4f7c92 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ecf8624c07004e448ec78f06ad4f7c922025-01-10T14:45:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-0112813531610975Kinematics Analysis and Simulation of Line-driven Hedge Trimming ManipulatorXue ZanLuo TianhongChen CaiAiming at the problem that hedge manipulators can’t work in complex and unstructured environments, a redundant line-driven hedge trimming manipulator with stronger environmental adaptability, higher degree of freedom and larger workspace is proposed. The kinematics model of single joint is established by coordinate analysis method, and the mapping relationship between rope length and joint rotation angle is solved. The forward kinematics mathematical model of 10-DOF manipulator is analyzed based on D-H parameter method. The inverse kinematics of redundant manipulator is studied by genetic algorithm, and the inverse kinematics of redundant manipulator is solved. The simulation results show that the genetic algorithm has high accuracy and fast solution. The coupling between the joints and ropes of the manipulator is analyzed and the decoupling formula is deduced. The correctness of forward and inverse kinematics model and decoupling model of the manipulator are verified by simulation, which lays a foundation for the control and trajectory planning of the rope-driven redundant manipulator.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.10.024Line drive |
| spellingShingle | Xue Zan Luo Tianhong Chen Cai Kinematics Analysis and Simulation of Line-driven Hedge Trimming Manipulator Jixie chuandong Line drive |
| title | Kinematics Analysis and Simulation of Line-driven Hedge Trimming Manipulator |
| title_full | Kinematics Analysis and Simulation of Line-driven Hedge Trimming Manipulator |
| title_fullStr | Kinematics Analysis and Simulation of Line-driven Hedge Trimming Manipulator |
| title_full_unstemmed | Kinematics Analysis and Simulation of Line-driven Hedge Trimming Manipulator |
| title_short | Kinematics Analysis and Simulation of Line-driven Hedge Trimming Manipulator |
| title_sort | kinematics analysis and simulation of line driven hedge trimming manipulator |
| topic | Line drive |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.10.024 |
| work_keys_str_mv | AT xuezan kinematicsanalysisandsimulationoflinedrivenhedgetrimmingmanipulator AT luotianhong kinematicsanalysisandsimulationoflinedrivenhedgetrimmingmanipulator AT chencai kinematicsanalysisandsimulationoflinedrivenhedgetrimmingmanipulator |