多功能蜓爪式仿生末端执行器设计与试验

发布时间：2018-01-08 08:23

本文关键词：多功能蜓爪式仿生末端执行器设计与试验　出处：《农业机械学报》2017年08期 　论文类型：期刊论文

【摘要】：为实现利用同一机械手柔顺抓取各种形状果蔬,并且在保证抓取效率的前提下,有效避免末端执行器对果蔬的损害,设计了一种基于仿生原理的多功能蜓爪式末端执行器。首先通过体式显微镜将蜻蜓各爪指的相关物理信息转换为具有指导意义的数据和量化模型,并采用理论分析与数学建模的方法,确定了机械手前后爪腿节、胫节与跗节的长度分别为36、48、31 mm,机械手中爪腿节、胫节与跗节的长度分别为48、48、36 mm;在此基础上,采用D-H法建立了该欠驱动末端执行器的运动模型,绘制了机械手的包络空间区域,进而得到机械手能够完全包络各种形态果蔬的主要抓取部位;最后,应用并联机构平台和串联机构平台开展静态抓取破坏试验,测定了损伤力极限值,并进行了果蔬抓取试验。试验结果表明,仿生机械手对番茄、苹果、柿子椒和茄子的平均抓取成功率分别为90.7%、88.6%、87.9%和87.2%,损伤率分别为4.3%、0.7%、3.6%和2.1%;可见该仿生末端执行器能够较好地实现对各种形态果蔬柔顺、稳定的无损抓取。
[Abstract]:In order to make use of the same mechanical hand complaisant various shapes of fruits and vegetables, and under the premise of ensuring capture efficiency, effectively avoid the end effector of fruit damage, the design of a multifunctional foot claw end actuator based on the principle of bionics. Firstly, through the microscope will be the dragonfly fingers related physical information into the data and the quantitative model has guiding significance, and adopts the methods of theoretical analysis and mathematical modeling, the manipulator and femur tibia tarsal claw, and the length were 36,48,31 mm, mechanical hand claw and femur, tibia tarsus length were 48,48,36 mm; on this basis, established the model of underactuated the end effector motion by D-H method, draw the regional enveloping space manipulator, and the manipulator can grasp the main parts of various fruits and vegetables shape completely envelope; finally, the online application and The platform and serial mechanism platform to carry out static crawl failure test, damage force determination limit, and fruit and vegetable grasping experiments. Experimental results show that the bionic manipulator for apple, tomato, eggplant and pepper crawling average success rates were 90.7%, 88.6%, 87.9% and 87.2%, the damage rate is respectively 4.3%, 0.7%. 3.6% and 2.1%; the bionic end effector can achieve better compliance of various forms of fruits and vegetables, nondestructive grasping stability.

【作者单位】：东北农业大学工程学院;浙江大学生物系统工程与食品科学学院;
【基金】：国家自然科学基金项目(51405078) 中国博士后科学基金项目(2014M561318) 黑龙江省博士后基金项目(LBH-Z13022) 东北农业大学学术骨干项目(518020)
【分类号】：TP242
【正文快照】： 引言利用农业智能装备摘取和分选果蔬的过程中,末端执行器作为机器人接触果实的重要工作部件被安装于机械手臂前端,其工作对象的外表较为脆弱,形状及生长状况也十分复杂。因此,末端执行器的设计通常被认为是农业机器人的核心技术之一[1-3]。20世纪90年代,KONDO等[4]设计了一种

【相似文献】