单驱双夹式草莓末端执行器设计
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摘要
针对温室高架栽培草莓自动化采收需要,设计了一种单驱双夹式采摘末端执行器。该末端执行器采用单气缸驱动,通过在剪短果柄的同时夹持近果实端果柄的方式完成草莓果实采摘,结构紧凑、控制方便、且通用性好。通过对草莓果实生长形态参数和果柄力学参数的测量分析,优化设计了采摘末端执行器结构模型,并对其果柄夹持和剪切性能进行力学模型验证。
Aiming at the need of automated harvesting of greenhouse elevated strawberry,a single-drive and double-holding picking end effector was designed. The end effector adopts a single-cylinder drive to finish picking strawberry By holding the fruit stems which close to the strawberry,which is compact in structure,convenient in control,and good in versatility. By measuring and analyzing the growth morphological parameters and mechanical parameters of the fruit stems,the structural model of the actuator at the end effector was optimized,and the mechanical model of the gripping and shearing performance of the stems was verified.
Aiming at the need of automated harvesting of greenhouse elevated strawberry,a single-drive and double-holding picking end effector was designed. The end effector adopts a single-cylinder drive to finish picking strawberry By holding the fruit stems which close to the strawberry,which is compact in structure,convenient in control,and good in versatility. By measuring and analyzing the growth morphological parameters and mechanical parameters of the fruit stems,the structural model of the actuator at the end effector was optimized,and the mechanical model of the gripping and shearing performance of the stems was verified.
引文
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[3]Shigehiko Hayashi,Kenta Shigematsu,Satoshi Yamamoto,et al.Evaluation of a strawberry–harvesting robot in a field test[J].Biosystems Engineering,2010,105:160-171.
[4]Monta M,Kondo N,Ting K C.End2effectors for tomato harvesting robot[J].Artificial Intelligence Review,1998,12(1-3):11-25.
[5]徐丽明,张铁中.果蔬果实收获机器人的研究现状及关键问题和对策[J].农业工程学报,2004,20(5):38-42
[6]张凯良,杨丽,王粮局,等.高架草莓采摘机器人设计与试验[J].农业机械学报,2012,43(9):165-172.
[7]冯青春,郑文刚,姜凯,等.高架栽培草莓采摘机器人系统设计[J].农机化研究,2012,34(7):122-126.
[8]李秦川,胡挺,武传宇,等.果蔬采摘机器人末端执行器研究综述[J].农业机械学报,2008,39(3):175-186.
[9]史慧文,石慧奇,王继祥.草莓采摘手爪结构设计[J].农机化研究,2014,36(9):94-98.
[2]Kondo N,Yata K,Iida M,et al.Development of an End-Effector for a Tomato Cluster Harvesting Robot[J].Engineering in Agriculture Environment&Food,2010,3(1):20-24.
[3]Shigehiko Hayashi,Kenta Shigematsu,Satoshi Yamamoto,et al.Evaluation of a strawberry–harvesting robot in a field test[J].Biosystems Engineering,2010,105:160-171.
[4]Monta M,Kondo N,Ting K C.End2effectors for tomato harvesting robot[J].Artificial Intelligence Review,1998,12(1-3):11-25.
[5]徐丽明,张铁中.果蔬果实收获机器人的研究现状及关键问题和对策[J].农业工程学报,2004,20(5):38-42
[6]张凯良,杨丽,王粮局,等.高架草莓采摘机器人设计与试验[J].农业机械学报,2012,43(9):165-172.
[7]冯青春,郑文刚,姜凯,等.高架栽培草莓采摘机器人系统设计[J].农机化研究,2012,34(7):122-126.
[8]李秦川,胡挺,武传宇,等.果蔬采摘机器人末端执行器研究综述[J].农业机械学报,2008,39(3):175-186.
[9]史慧文,石慧奇,王继祥.草莓采摘手爪结构设计[J].农机化研究,2014,36(9):94-98.