文章基本信息

标题：Dimensional Synthesis and Design of a Shoulder Joint for Fruit and Vegetable Harvesting Manipulator
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作者：Liang Zhang ; Zhenlin Jin ; Shuzhen Li 等
期刊名称：Journal of Software Engineering
印刷版ISSN：1819-4311
电子版ISSN：2152-0941
出版年度：2015
卷号：9
期号：2
页码：392-400
DOI：10.3923/jse.2015.392.400
出版社：Academic Journals Inc., USA
摘要：In order to improve the performance of a novel shoulder joint for fruit and vegetable harvesting robot, parameter optimization was presented. On the basis of the Jacobian matrix of the parallel mechanism, the global dexterity index and driving performance index which met the workspace requirements and the constrained conditions were used as the optimal objective and the optimization model of the shoulder structure parameters was established. The ant colony algorithm was used to optimize the structure parameters of the mechanism, dimensional synthesis of the shoulder was carried out and the optimal scale parameter values were given. With the mechanism for the prototype, a shoulder joint of humanoid robot is designed. It has the advantages of compact structure, easy manufacturing, strong carrying capacity and lower motion inertia, etc.