摘要
采摘机器人是未来智能农业机械化的发展方向,具有广阔的应用前景。国外采摘机器人发展非常迅速,但国内采摘机器人的研制与开发才刚刚起步。为此,通过采摘机器人机械手3种自由度结构形式—直角坐标型、极坐标型、关节型比较分析,以及末端执行器类型的比较研究并考虑了不同栽培方式对结构设计的影响,提出了适合于不同蔬菜和水果采摘的机械手结构,为采摘机器人机械手设计提供理论依据。
The application of picking robot will be a development trend of agricultural mechanization and has a great prospect. The fruit-picking robots develop rapidly abroad, but are studying in China. According to comparativeness and analysis of the manipulators of picking-robot including right-angled coordinate, polar coordinate and arthritis, the comparative structure analysis of end-effectors were carried on and the effects of different planting methods on structure design were considered. In the end, different kinds of manipulators suitable for different kinds of vegetables and fruits were brought up, which provides theories for the design of picking robots.
出处
《农机化研究》
北大核心
2007年第3期195-197,共3页
Journal of Agricultural Mechanization Research
基金
沈阳农业大学青年基金项目(2005016)
辽宁省自然科学基金项目(20052127)
关键词
自动控制技术
采摘机器人
综述
机械手
比较
auto-control technology
picking-robot
summary
manipulator
comparative
