基于FPA控制系统的多指多关节采摘机械手设计

发布时间：2018-10-24 17:37

【摘要】：针对传统机械手爪存在抓持动作单一、自由度少及通用性较差等缺点,设计了一种新型的由FPA直接驱动的多指多关节采摘机械手,有效地提高了机械手的灵活性和对不同果实采摘的自适应能力。从静力学的角度,建立了弯曲关节的转角及输出力的静态模型,并利用多目标优化方法对各个关键受力的均匀性进行了优化设计,分析了三自由度手指的输出力特性。最后,通过实验方法建立了机械手的苹果抓持实验,分析了气压值与抓持能力之间的关系。实验结果表明:随着待采摘果实目标半径的增大,机械手抓取关节角度有所减小,机械手抓取关节手指内腔的压力有所降低,为新型采摘机械手的研究提供了理论借鉴和技术参考。
[Abstract]:Aiming at the disadvantages of the traditional manipulator claw, such as single gripping action, low degree of freedom and poor versatility, a new multi-finger and multi-joint picking manipulator driven directly by FPA is designed. The flexibility of manipulator and the adaptive ability of picking different fruit are improved effectively. From the statics point of view, the static model of bending joint rotation angle and output force is established, and the homogeneity of each key force is optimized by using multi-objective optimization method, and the output force characteristics of three-degree-of-freedom finger are analyzed. Finally, the experiment of holding on of the manipulator is established by the method of experiment, and the relationship between the pressure and the holding ability is analyzed. The experimental results show that with the increase of the target radius of the fruit to be picked, the angle of the grasping joint of the manipulator decreases and the pressure of the finger cavity of the manipulator decreases. It provides theoretical reference and technical reference for the study of new picking manipulator.
【作者单位】：河南工业职业技术学院;
【基金】：河南省自然科学基金项目(2015GZC155) 南阳市科技攻关(KJGG36)
【分类号】：S225;TP241

【参考文献】