椭球型果蔬柔性采摘灵巧手设计

doi:10.13733/j.jcam.issn.2095‑5553.2024.08.006

摘要/Abstract

摘要： 为提高采摘灵巧手的作业通用性、减少采摘过程中夹取损伤现象，设计一种椭球型果蔬气动柔性采摘灵巧手。对手指部件进行有限元分析，对比手指尺寸和指尖推力间的关系，分析手指性能，并对该灵巧手进行硬件选型和电路设计，开发控制系统，制作气动采摘灵巧手样机，进行功能测试。灵巧手总重1 kg，小巧灵活，手指张开时间为2 s，40 kPa气压输入下夹爪闭合时间为3 s。搭载试验平台，进行采摘试验。试验表明，三种椭球型果蔬进行采摘作业的采摘成功率在92.5%以上，采摘损伤率低于7.5%，该灵巧手具有一定的通用性，具有高成功率和低损伤特点。

关键词: 采摘机器人, 椭球型果蔬, 灵巧手, 气动, 通用性, 低损伤

Abstract: In order to improve the operational versatility of today's picking dexterous hand and reduce the phenomenon of picking damage during the picking process, an ellipsoidal type pneumatic flexible picking dexterous hand for fruits and vegetables was designed. Firstly, the drawing of the gripper was drawn, and then the finite element analysis of the finger part was carried out to compare the relationship between the finger size and the fingertip thrust, and to analyze whether the finger size can meet the general operation requirements. The program design, hardware selection and circuit design were carried out for the dexterous hand, and the control program was developed. The prototype of pneumatic picking hand was made and tested, the total weight of the hand was 1 kg, the finger opening time was 2 s and the jaw closing time was 3 s under 40 kPa air pressure input. Picking experiments were carried out on the experimental platform, which could pick three kinds of ellipsoidal fruits and vegetables, the picking success rate was over 92.5% and the picking damage rate was less than 7.5%, which verified the versatility of the dexterous hand and its characteristics of high success rate and low damage.

Key words: picking robots, ellipsoidal fruits and vegetables, dexterous hands, pneumatics, versatility, low damage

中图分类号:

S43
TP241

陈蒙, 陈丰, 张华, 丁文芹, 占才学. 椭球型果蔬柔性采摘灵巧手设计[J]. 中国农机化学报, 2024, 45(8): 32-37.

Chen Meng, Chen Feng, Zhang Hua, Ding Wenqin, Zhan Caixue. Design of flexible picking dexterous hand for ellipsoidal fruits and vegetables[J]. Journal of Chinese Agricultural Mechanization, 2024, 45(8): 32-37.

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