摘要
设计了一种适用于果实采摘机器人快速柔顺夹持的测试系统。阐述了系统结构与工作原理,介绍了系统的总体结构、硬件电路和软件流程。系统通过对驱动电机的控制,带动有力传感器的机器人手指,完成果实采摘的夹持过程。利用监控摄像机对果实形变情况进行检测,并实时采集夹持力、电机电流、手指运动速度等关键信息。所设计的系统稳定可靠,具有模块化、开放性的特点,适用于采摘机器人的实验研究。
A novel test system which is used in quick and flexible clamp for have sting robot is designed.The structure,working principle,hardware circuit and software of system are illustrated.The robot finger with force sensor is derived by a motor to grasp the fruits.Critical information such as deformation of the fruit detected by surveillance camera,clamping force,motor current and finger velocity are collected.The designed system is stable and suitable for experimental study of have sting robot.
出处
《中国农机化》
北大核心
2011年第3期87-89,共3页
Chinese Agricul Tural Mechanization
基金
江苏科技大学科研项目(35030909)
国家农业信息化工程技术中心开放课题(KF2009W38-044)
关键词
采摘机器人
柔顺
夹持
系统设计
have sting robot
clamp
flexible
system design
