Kinematics Analysis and Simulation of Greenhouse VegetableTransplanting Robot

摘要

The existing transplanting machinery is mostly three degrees of freedom. When there are leaking seedlings and bad seedlings in the plug tray, it cannot be avoided in time, and the transplanting efficiency is low. Aiming at this problem, this paper designs a six-degree-of-freedom articulated robot The forward and reverse motions are analyzed in Matiab, and the motion simulation is performed by Simulink, and the graphical user interface (GUI) is used for control analysis. Finally, the STM32F407 MCV isused to control the robot arm with the GUI in the host computer. The transplanting test results of the pepper seedlings showed that the transplanting success rate of the robot was about 98%. Therefore, this study can provide an effective reference for further research on transplanting machinery.