Study of Modeling and Simulating for Picking Manipulator Based on Modelica

摘要

In order to process the study of Picking Manipulator for litchi, multi-field unified modeling language Modelica is used to model and simulate Picking Manipulator. In this paper, the structure of Picking Manipulator is analyzed and the mathematical model of manipulator control system is built by adopting multi-cooperating controlling model. More, the process of modeling Picking Manipulator under Modelica/Dymola is introduced, and the model of Picking Manipulator system is built while the extensible modeling base is established. Finally, the model will be simulated and the validity of models will be validated. Through the thesis, the basic for the further study of Litchi Picking Manipulator will be provided.