基于MATLAB 的履带式采摘机器人运动分析与运动轨迹规划

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中图分类号：TP242.6 文献标志码：A文章编号：1006-0316（2025）09-0066-07

doi：10.3969/j.issn.1006-0316.2025.09.010

Kinematic Analysis and Motion Trajectory Planning of a Crawler-type Harvesting Robot Based on MATLAB

ZHAIYanfei

（Ya'anPolytechnic College，Yaan 625oo0， China）

Abstract ∵ This paper conducts kinematic analysis and studies motion trajectory planning of a crawler-type harvesting robot.Firstly，a kinematic model ofa 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 analysisenables 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 efciencyand stability.MATLAB simulations Validated theaccuracy of the kinematic model and thereliability 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，ofering significant implications for advancing agricultural automation and enhancing production efficiency.

Key words ： crawler-type harvesting robot ; MATLAB ; kinematic analysis ; motion trajectory ; agricultural automation

随着农业现代化的快速发展，自动化采摘设备的研发成为提升农业生产效率、降低人工成本的关键技术之一。（剩余6356字）