Affiliation:
1. Xinjiang Agriculture University
Abstract
According to the analysis theory of the four freedom degree about the robots mechanical arm, in this paper established the four freedom degree of the mechanical arm forward and inverse kinematics equation, which was based on the coordinate system, giving the relationship of the spatial location and gesture between movement member and end executor. Besides, it could solve its Jacobian matrix, and provide theoretical basis to achieve the velocity control program on the end of mechanical arm in Cartesian space. The application of ADAMS had carried out the simulation, analysed the location and movement relations among the mechanical structure, which provided significant data for the actual hedge trimming operation.
Publisher
Trans Tech Publications, Ltd.
Reference12 articles.
1. Cheng Xiang's. Garden machinery [M]. Beijing: China Forestry Publishing House, (1995).
2. Robotics Society of Japan series, Zong Guang-hua, Cheng Jun fact translated . Robot Technical Manual [M]. Beijing: Science Press, (2007).
3. R.S. Hartenberg and J. Denavit : Kinematic Synthesis of Linkages, McGraw-Hill(1964).
4. Angeles J. Fundamentals of Robotic Mechanical Systems[M]. New York: Spriger-Verlag, (2003).
5. ASAAMI Shuj. i Rbotsin Japan. Present and Future[J]. IEEE Robotics and Automation Magaamie, 1994. 22-26.