装谷物机械臂的结构设计与仿真

Structure DesignAndSimulation Of GrainLoadingManipulatorAbstractOn the basis of summarizing the research and development of themanipulator,combining the development trend of the modern agriculturalrobot,the paper analyzes the structure design and dynamic simulation of thegrain-loading manipulator.In this paper,the design of the mechanical arm using the mechanicalstructure of the Cylindrical coordinate system,mainly divided into thefollowing five modules:1)design of Base and Column Module;2)design of vertical arm lifting module;3)design of horizontal arm expansion module;4)design of rotating module of mechanical arm;5)design of Mechanical Claw Module.At the same time,the actuator of the manipulator is designed,the strokeand location of each driving element are screened,and the most suitablemodel is selected to meet the requirements of the manipulator in positioningaccuracy and moving speed.Then,according to the connection relationshipbetween each module,the structure of the connector is designed.Finally,the3D modeling and dynamic simulation of the manipulator are carried out.