In order to realize rapid design, a parametric intelligent design system of picking manipulator (PIDS-PM) of 4 DOF( Degree of Freedom) was developed. The design was reused and became more standard, the development cycle was shortened and the cost was reduced. First, knowledge attribute properties of manipulator were extracted and classified and parameterized according to its functions. They were consisted of a reusable knowledge structure module which included all the information, relationships and maps among parameters. Second, a knowledge repository based on database was constructed, which was used to query the database and obtain the optimal design scheme. Finally, the system was realized by using VC++6.0 including its structure, main function modules, user interface and its design result.
According to different environment and working requirement, the manipulators with diverse shapes and functions are required. In this paper, a virtual design and simulation system for manipulators of multi-degree of freedom (DOF) was put forward. Knowledge classification and modeling were carried out for the manipulator’s mechanism and motion behaviors. The software architecture framework and platform of the hardware and software were described. The overall program approach and its realization of the system were introduced. Based on the VC++ 6.0 development platform, the manipulator’s design and simulation system was developed and tested by examples. The results show that it provides a theoretical method and a tool for the virtual design and virtual manufacturing of multi-DOF manipulators in complex environment, which elevates the speed and lowers the cost of research and development.
In order to reduce the research and experimental cost of hand-picking machine, to make the design of manipulator more reasonable, and to provide more optimized program for the design, an agricultural picking manipulator simulation system based on intelligent design was designed. Firstly ,based on the research needs, to simplify the real picking manipulator under the premise of that the simulation accuracy reach the requirement, the model of picking manipulator had been simplified. Secondly, the finished model was put into EON Studio to build the virtual procedure, and movement properties were added to the manipulator to realize the function of motion simulation. Thirdly, the picking manipulator mathematics motion model of 4 freedoms was established, and the inverse kinematics of the picking manipulator was analyzed by MATLAB analysis tools, and the reverse solution program was written. Finally, Microsoft Visual C++ was used to complete the design of simulation platform, in order to realize the calling of various functions of the manipulator.
Aiming at the camera calibration of binocular stereo vision system, based on Zhang’s calibration method, the specified points in the calibration template obtained by the Harris operator, a set of camera calibration system combined with VC++ and Matlab was developed. The results of the calibration system, comparing with those of four-step calibration method, was analyzed and showed that: the error of calibration data in this system was within 0~5 mm, which had a high precision calibration, providing a new reference measure for the camera calibration.
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