摘要
针对目前刚性结构的农业果实采摘机械手柔顺性不足而易损伤抓取目标的缺点,设计了一种柔性末端执行器结构。该末端执行器由3个气动柔性弯曲关节作为手指部分、1个气动柔性扭转关节作为腕部,给出了手指部分和腕部的数学模型。分析了该末端执行器抓取圆柱形目标时的夹持模式和抓取球形目标时的抓握模式。仿真分析并试验研究了抓取目标物体重力和半径变化对末端执行器内腔压力的影响。结果表明建立的抓持模型能够反映该末端执行器的基本特性,研制的柔性末端执行器能够应用于农业果实的采摘作业。
Taking into account the disadvantages of rigid grasping end-effectors for agricultural fruits, such as low complaisance and easy to hurt the grasping object, authors designed a type of flexible end-effector, which took three pneumatic flexible bending joints as its fingers and one flexible pneumatic torsion joint as its wrist. The mathematical models for fingers and wrist of the end-effector were presented. According to the shapes of grasping objects, the end-effector＇s gripping model for grasping columniform objects and holding model for grasping spheroidal objects were analyzed in detail. Simulation and experiments were conducted to study the impact of weight and radius of the grasping object to the air pressure inside the end-effector. The results showed that the mathematical models can represent the essential characteristics of the end-effector. The flexible end-effector can be applied in agricultural fruits picking task.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2009年第10期121-126,共6页
Transactions of the Chinese Society of Agricultural Engineering
基金
国家863高技术研究发展计划资助项目(2009AA04Z209)
国家自然科学基金资助项目(50575206)
浙江省自然科学基金资助项目(Y1080485)
浙江省机械电子工程重中之重学科开放基金资助项目(20090325)
