水果分拣平台开发设计

北京理工大学珠海学院2020届本科生毕业设计或论文AbstractAs the world's largest fruit production country,China's fruit industry has been facinggreat challenges in fruit sorting.In order to meet the actual demand of the market,a fruitsorting platform is designed.The core mechanism of the platform is a 6-DOF mechanical arm,which is composed of a series of connecting rods connected by joints.The parts are connectedby bolts and nuts,and the rotating shaft is equipped with bearings.Under the condition ofmeeting the design requirements and strength,the material consumption shall be minimized.The D-H method is used to solve the pose matrix and kinematics equation of the given sixdegree of freedom manipulator,and the corresponding mathematical model is established.TheMATLAB software is used to program,and the structural parameters are used to get the bestresult of the equation.Because each joint has the corresponding optimal angle,each endactuator is solved and the motion simulation is carried out.In order to improve theuniversality of the simulation program,a moving degree of freedom is added at the end of thegripper.Key words:fruit sorting platform 6-DOF manipulator matlab