荔枝采摘机器人拟人指受力分析与夹持试验

被引：19

作者：

叶敏

邹湘军

杨洲

刘念

陈炜文

罗陆锋

机构：

[1] 华南农业大学南方农业机械与装备关键技术教育部重点实验室

来源：

农业机械学报 | 2015年 / 46卷 / 09期

关键词：

采摘机器人; 荔枝; 结果母枝; 拟人夹指; 合理夹持力;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

阐述了采摘机器人的新型拟人夹指机构,分析了夹持的力封闭性,建立了扰动条件下的荔枝母枝夹持模型,导出了一种夹持力计算方法;用压力机对结果母枝进行了夹持试验,建立了夹持力、母枝直径等与抓举重力间的关系,给出了定量描述;用机器人在野外环境下进行动态采摘试验,验证了夹指的可靠性。结果表明:所设计夹指结构能适合不同直径母枝的稳定夹持,对母枝损伤小;所建立的回归方程有效,夹指在外力扰动情况下可以实现稳定夹持;野外环境下使用15N夹持力采摘荔枝果串,夹持成功率为100%。

引用

页码：1 / 8

页数：8

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