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基于曲柄滑塊機(jī)構(gòu)原理導(dǎo)航的農(nóng)業(yè)機(jī)器人設(shè)計(jì)
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Agricultural Robot Navigated by the Slider-crank Mechanism
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    摘要:

    研究開發(fā)了一種自動(dòng)導(dǎo)航果園用履帶式移動(dòng)機(jī)器人，作為果園精細(xì)化作業(yè)的移動(dòng)平臺(tái)。機(jī)器人采用基于曲柄滑塊機(jī)構(gòu)原理的導(dǎo)航方式，以導(dǎo)航機(jī)構(gòu)檢測(cè)的姿態(tài)角和位置角作為輸入量設(shè)計(jì)了模糊PID控制器。試驗(yàn)表明，機(jī)器人以0.15m/s的速度直線行走時(shí)，最大跟蹤誤差小于0.02m；機(jī)器人轉(zhuǎn)彎半徑為2m時(shí)，最大跟蹤誤差小于

    Abstract:

    0.05m。 An orchard tracked mobile robot was developed in order to raise automation level of orchard management, improve operation efficiency, and reduce the intensity of operation. A navigation method based on the slider-crank mechanism was developed, and a fuzzy PID controller was designed, which used the attitude angle and position angle of the robot guiding mechanism as the input parameters. The experiments showed that the robot could travel in a straight line with a maximum lateral error of 0.02m when the robot moved at the speed of 0.15m/s, and the maximum lateral error of 0.05m when the turning radius was 2m.

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朱磊磊,陳軍,白曉鴿,楊娜,蘇清華.基于曲柄滑塊機(jī)構(gòu)原理導(dǎo)航的農(nóng)業(yè)機(jī)器人設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(Z1):33-36. Agricultural Robot Navigated by the Slider-crank Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(Z1):33-36.

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