机械手不同抓取控制方式对番茄机械损伤的影响分析
发布时间：2019-04-24 15:06
【摘要】：为了分析机械手不同抓取控制方式对番茄造成的机械损伤。通过Burgers粘弹性模型描述番茄的变形特征,利用蠕变实验获得番茄样本的粘弹性参数。选择匀减速、先匀速后减速以及变减速作为3种典型的抓取控制方式,并利用一次函数、巴特沃斯幅度平方函数和指数函数3种函数曲线描述末端执行器实际抓取过程中不同抓取控制方式的速度变化。在此基础上,对番茄塑性变形进行求解,分析在抓取时间一定时,不同抓取控制方式下番茄的塑性变形规律,并以最小塑性变形为依据,确定最优的抓取策略。结果表明:抓取控制方式3为最优抓取控制方式,当抓取速度v0=1 mm/s,抓取时间t0=1 s时,产生的最小塑性变形最小,红熟前期和红熟中期番茄的最小塑性变形分别为0.002 6 mm和0.009 8 mm。以抓取控制方式3进行抓取控制实验,实验数据和理论数据的吻合度较高,决定系数R2为0.99,验证了抓取控制方式3作为最优抓取控制方式的合理性和可行性,为优化机械手抓取过程提供了参考。
[Abstract]:In order to analyze the mechanical damage caused by different grasping control methods of manipulator on tomato. The deformation characteristics of tomato were described by Burgers viscoelastic model, and the viscoelastic parameters of tomato samples were obtained by creep experiment. Select uniform deceleration, first uniform speed, then deceleration and variable deceleration as three typical grasp control methods, and use one-time function. Butterworth amplitude square function and exponential function are three kinds of function curves to describe the speed changes of different grabbing control modes in the actual grabbing process of the end-effector. On this basis, the plastic deformation of tomato is solved, and the law of plastic deformation of tomato under different grabbing control mode is analyzed when the grabbing time is fixed, and the optimal grabbing strategy is determined according to the minimum plastic deformation. The results show that the grab control mode 3 is the optimal grab control mode, and the minimum plastic deformation is the smallest when the grabbing speed v0 / 1 mm/s, capture time t0 / 1 s. The minimum plastic deformation of tomato was 0.002 6 mm and 0.009 8 mm. in the early and middle stages of red ripening, respectively. The capture control experiment was carried out with the capture control mode 3. The agreement between the experimental data and the theoretical data was high, and the coefficient of determination was 0.999. The rationality and feasibility of the grab control mode 3 as the optimal grab control mode were verified. It provides a reference for optimizing the grasping process of manipulator.
【作者单位】： 南京农业大学江苏省智能化农业装备重点实验室;
【基金】：国家自然科学基金项目(31471419) 教育部博士点基金博导类项目(20130097110043)
【分类号】：TP241
本文编号：2464547
[Abstract]:In order to analyze the mechanical damage caused by different grasping control methods of manipulator on tomato. The deformation characteristics of tomato were described by Burgers viscoelastic model, and the viscoelastic parameters of tomato samples were obtained by creep experiment. Select uniform deceleration, first uniform speed, then deceleration and variable deceleration as three typical grasp control methods, and use one-time function. Butterworth amplitude square function and exponential function are three kinds of function curves to describe the speed changes of different grabbing control modes in the actual grabbing process of the end-effector. On this basis, the plastic deformation of tomato is solved, and the law of plastic deformation of tomato under different grabbing control mode is analyzed when the grabbing time is fixed, and the optimal grabbing strategy is determined according to the minimum plastic deformation. The results show that the grab control mode 3 is the optimal grab control mode, and the minimum plastic deformation is the smallest when the grabbing speed v0 / 1 mm/s, capture time t0 / 1 s. The minimum plastic deformation of tomato was 0.002 6 mm and 0.009 8 mm. in the early and middle stages of red ripening, respectively. The capture control experiment was carried out with the capture control mode 3. The agreement between the experimental data and the theoretical data was high, and the coefficient of determination was 0.999. The rationality and feasibility of the grab control mode 3 as the optimal grab control mode were verified. It provides a reference for optimizing the grasping process of manipulator.
【作者单位】： 南京农业大学江苏省智能化农业装备重点实验室;
【基金】：国家自然科学基金项目(31471419) 教育部博士点基金博导类项目(20130097110043)
【分类号】：TP241
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