小型升降式采摘机器人设计与试验
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摘要
针对现有的采摘机器人机械臂自由度受工作空间限制的问题,进行了四自由度升降式采摘机器人的设计。根据国内果树矮化密植的栽培模式,为使机械臂能高效灵活地获取目标空间果实,同时尽量减少机械臂的自由度与结构尺寸,设计了一种小型升降式采摘机器人。对采摘机器人样机进行了单关节位置控制误差试验,结果表明:升降机构位置误差平均值为3. 02mm,最大值为4. 55mm;腰关节位置误差平均值为1. 21mm,最大值为2. 14mm;肩关节位置误差平均值为1. 55mm,最大值为1. 36mm;肘关节位置误差平均值为1. 06mm,最大值为2. 33 mm;腕关节位置误差平均值为1. 11 mm,最大值为1. 97 mm,基本满足果园采摘作业的要求。
Aiming at the problem that the degree of freedom of the existing robot arm is limited by the working space,the design of the four degree of freedom lifting robot is carried out. In order to make the manipulator obtain the target space efficiently and flexibly,and minimize the freedom and structure size of the mechanical arm,a small lifting and lifting robot is designed according to the cultivation mode of dwarf and dense planting of fruit trees in China. The results show that the mean value of the position error of the lifting mechanism is 3. 02 mm,the maximum value is 4. 55 mm,the average error of the position of the waist joint is 1. 21 mm,the maximum is 2. 14 mm,the mean value of the shoulder joint position error is 1. 55 mm,the maximum value is 1. 36 mm,and the elbow joint position. The mean value of the error is 1. 06 mm,the maximum is 2. 33 mm,the mean value of the wrist joint position error is 1. 11 mm and the maximum is 1. 97 mm,which basically meets the requirement of the orchard picking operation.
Aiming at the problem that the degree of freedom of the existing robot arm is limited by the working space,the design of the four degree of freedom lifting robot is carried out. In order to make the manipulator obtain the target space efficiently and flexibly,and minimize the freedom and structure size of the mechanical arm,a small lifting and lifting robot is designed according to the cultivation mode of dwarf and dense planting of fruit trees in China. The results show that the mean value of the position error of the lifting mechanism is 3. 02 mm,the maximum value is 4. 55 mm,the average error of the position of the waist joint is 1. 21 mm,the maximum is 2. 14 mm,the mean value of the shoulder joint position error is 1. 55 mm,the maximum value is 1. 36 mm,and the elbow joint position. The mean value of the error is 1. 06 mm,the maximum is 2. 33 mm,the mean value of the wrist joint position error is 1. 11 mm and the maximum is 1. 97 mm,which basically meets the requirement of the orchard picking operation.
引文
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[2]陈磊,陈帝伊,马孝义.果蔬采摘机器人的研究[J].农机化研究,2011,33(1):224-227.
[3]王儒敬,孙丙宇.农业机器人的发展现状及展望[J].中国科学院院刊,2015(6):803-809.
[4] Baeten J,DonnéK,Boedrij S,et al. Autonomous FruitPicking Machine:A Robotic Apple Harvester[C]//Fieldand Service Robotics. Springer Berlin Heidelberg,2008:531-539.
[5]近藤直,田充司,野口伸.农业机器人. II,机构与实例[M].北京:中国农业大学出版社,2009.
[6] Feng Q,Zou W,Fan P,et al. Design and test of roboticharvesting system for cherry tomato[J]. International Journalof Agricultural&Biological Engineering,2018,11(1):96-100.
[7]王芳,郭建民,鲍国红,等.果树矮化密植栽培技术[J].现代农业科技,2014(17):127.
[8]史继东,张立功.三种常见密植树形比较[J].果农之友,2009(7):10.
[9]安秋,姬长英,周俊,等.基于CAN总线的农业移动机器人分布式控制网络[J].农业机械学报,2008,39(6):123-126.
[10]赵先雷.基于CAN总线轮式农业移动平台通讯子系统的研究[D].南京:南京农业大学,2007.