Open AccessKinematics Analysis and Trajectory Planning of Dual-arm Pruning Robot
Author(s) -
Ye Lu
Publication year - 2021
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/769/4/042067
Subject(s) - workspace , pruning , kinematics , trajectory , computer science , robot , robotic arm , dual (grammatical number) , tree (set theory) , object (grammar) , matlab , artificial intelligence , mathematics , art , mathematical analysis , physics , literature , classical mechanics , agronomy , biology , operating system , astronomy
In order to overcome the disadvantages of manual pruning of tree branches, the dual-arm pruning robot is proposed in this paper. The structure of the dual-arm pruning robot is designed, and the three-dimensional model is established. Taking the dual-arm of the pruning robot as the study object, the D-H method is used to build the kinematics model so as to better research the process of the two arms cooperative pruning. The kinematics simulation is done by Matlab to verify the rationality of the D-H parameters. The workspace of the dual-arm is analyzed, as well as the trajectory planning in joint space. The torques of each joint are solved to determine the power of the driving motor. The research results provide the theoretical basis for the final prototype manufacturing.