柑橘采摘机器人末端执行器设计与研究

发布时间：2018-07-05 00:14

本文选题：柑橘采摘 + 末端执行器　；参考：《重庆理工大学》2017年硕士论文

【摘要】：柑橘生产是重庆市乃至西南地区水果生产的主要产业之一,而柑橘的采摘作业是柑橘生产中一个十分重要的环节。人工收获柑橘是极其耗时费力的工作,其采摘作业集中,劳动强度大、效率低。作为采摘机器人的重要组成部分,末端执行器是与采摘对象直接接触的最后执行部件,由于其采摘对象的特殊性,末端执行器的研制成为了农业机器人尤其是果蔬采摘机器人的关键技术之一,它的性能优异程度直接影响机器人的收获效率。针对柑橘采摘末端执行器的研究国内起步较晚,成果较少。综合上述问题,本课题设计了一款新型柑橘采摘末端执行器并进行了相应研究,主要工作如下:基于机器人采摘的柑橘果实果柄特性以及机器人作业环境研究,引入创新设计方法TRIZ理论对末端执行器进行总体方案设计,确定了末端执行器系统组成。基于仿生学理念,以蛇的吞咽动作和上颚结构为构型设计原型,提出末端执行器两种机构构型,即异型四杆机构与一般铰链四杆机构,通过对比分析,确定传动机构最终构型,并完成末端执行器的初步模型设计。完成末端执行器样机标准件选型、尺寸确定及模型建立,基于采摘任务需求设计末端执行器切割部件,分析其工作机理,并通过实验验证其切割效果。完成末端执行器有限元模态分析,得出其固有振型,验证其结构合理性,最后完成末端执行器样机制造。对研制的末端执行器的采摘作业过程进行深入探索,完成采摘过程的吸持拉动过程力学分析。基于该末端执行器进行了采摘姿态分析,讨论其合适的采摘姿态。根据末端执行器作业流程,完成其控制系统设计与气压驱动系统设计,并通过实验对气动系统各支路工作所需参数进行标定。将末端执行器模型信息及控制方案写入机器人操作系统,完成下位机控制器Arduino与PC上位机的通信,实现柑橘采摘机器人采摘执行系统平台搭建,完成末端执行器采摘实验以及结果分析。
[Abstract]:Citrus production is one of the main fruit production industries in Chongqing and even southwest China, and citrus picking is a very important link in citrus production. Artificial harvesting of citrus is an extremely time-consuming and laborious task, with concentrated picking, high labor intensity and low efficiency. As an important part of the picking robot, the end actuator is the final executive part in direct contact with the picking object, because of the particularity of the picking object. The development of end effector has become one of the key technologies of agricultural robot, especially the fruit and vegetable picking robot, and its excellent performance has a direct impact on the harvesting efficiency of the robot. The research on citrus picking end actuators started late in China, and the results were less. Based on the above problems, a new type of citrus picking end effector is designed and studied. The main work is as follows: based on the characteristics of citrus fruit stalk and the environment of robot picking, An innovative design method, Triz theory, is introduced to design the end effector, and the system composition of the end actuator is determined. Based on the idea of bionics, taking the swallowing movement and the maxillary structure of the snake as the configuration design prototype, the paper puts forward two kinds of mechanism configurations of the end actuator, that is, the special-shaped four-bar mechanism and the general hinged four-bar mechanism. Through comparison and analysis, the final configuration of the transmission mechanism is determined. The initial model design of the end actuator is completed. The standard parts selection, size determination and model establishment of the end actuator prototype are completed. The cutting parts of the end actuator are designed based on the demand of picking task, the working mechanism is analyzed, and the cutting effect is verified by experiments. The finite element modal analysis of the end effector is completed, and the inherent mode of the end actuator is obtained. The rationality of the structure is verified. Finally, the prototype of the end actuator is manufactured. In this paper, the picking process of the developed end effector is deeply explored, and the mechanical analysis of the suction and pull process of the picking process is completed. Based on the terminal actuator, the picking attitude is analyzed, and the suitable picking attitude is discussed. According to the operation flow of the end actuator, the design of the control system and the pneumatic drive system are completed, and the required parameters of each branch of the pneumatic system are calibrated through experiments. The terminal actuator model information and control scheme are written into the robot operating system, and the communication between the lower computer controller Arduino and the PC upper computer is completed, and the platform of the citrus picking robot picking execution system is built. The end effector picking experiment and the result analysis are completed.
【学位授予单位】：重庆理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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