机械

以履带式采摘机器人为研究对象，围绕其运动分析与运动轨迹规划展开研究。首先，基于D-H参数法建立了三自由度机械臂的运动学模型，通过MATLAB软件进行运动学分析，明确了机器人各关节之间的空间位置关系及末端执行器的位姿计算方法。正运动学分析能够根据关节角度精确计算末端执行器的位置和姿态，为运动控制提供基础数据。逆运动学分析则通过目标位姿反推关节角度，确保机器人准确到达目标位置。其次，采用五次多项式插值规划方法对机械臂的运动轨迹进行优化，确保关节空间轨迹的平滑性和稳定性，有效避免采摘过程中机械臂运动突变，提高作业效率和稳定性。研究通过MATLAB仿真验证了运动学模型的准确性和轨迹规划方法的可靠性，结果表明该方法能够显著提升机械臂操作的精度和稳定性。本文研究为履带式采摘机器人在复杂地形中的应用提供了理论支持和技术保障，对推动农业自动化发展和提高生产效率具有重要意义。

This paper conducts kinematic analysis and studies motion trajectory planning of a crawler-type harvesting robot. Firstly, a kinematic model of a three-degree-of-freedom(3-DOF) robotic arm was established using the D-H parameter method. Kinematic analysis through MATLAB software clarified the spatial positional relationships among robot joints and the calculation method for the end-effector's pose. Forward kinematics analysis enables precise computation of the end-effector's position and orientation based on joint angles, providing fundamental data for motion control. Inverse kinematics analysis derives joint angles from target poses, ensuring accurate positioning of the robot. Secondly, quintic polynomial interpolation planning method was employed to optimize the robotic arm's motion trajectory, guaranteeing smoothness and stability in joint space. This effectively prevents abrupt motion changes during harvesting operations while improving operational efficiency and stability. MATLAB simulations validated the accuracy of the kinematic model and the reliability of the trajectory planning method. Results demonstrate that this approach significantly enhances the precision and stability of robotic arm operations. The research provides theoretical support and technical assurance for the application of crawler-type harvesting robots in complex terrains, offering significant implications for advancing agricultural automation and enhancing production efficiency.