果蔬侧立采摘柔性手爪设计与变形特性研究
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摘要
为了实现果蔬的机械化稳定采摘,设计5种非对称柔性手爪结构方案,并对其进行优选;并针对不同负载下柔性手爪侧立抓握时的三维变形特点,提出包括最小工作压力、手指末端垂直位移、手指变形角在内的3个评价指标。通过单指变形特性试验和多指手爪侧立抓握变形特性试验,分析不同状态下的手爪变形规律。研究表明,手指间呈一定角度布置的手爪方案在负载较大时最小工作压力、各项形变指标变化幅度均较小。总体上,手指末端垂直位移对负载的变化更加敏感;工作压力增加有利于手指末端位姿的稳定。采用仿人手4指的手爪方案5综合性能最优,为柔性手爪结构优化以及其形态的精确控制提供了参考依据。
Five asymmetrical soft robot hands are designed for the stable picking of fruit and vegetables, and optimized. The evaluation indicators were proposed for the analysis of the three-dimensional(3 D) deformation of fingers in lateral grasping with multi-fingered soft hands at different load masses. The indicators included the minimum working pressure, the distortion angle of finger and the vertical displacement of finger. Through the test of the deformation of a single finger with no load at different working pressures and the test for the five multi-fingered robot hands in different loads and at different working pressures, the change of deformation of fingers in different working conditions were derived. The results indicate that the robot hands with asymmetrically placed fingers show less increase in the minimum working pressure and deformation when higher load is imposed. For the conditions involved, the vertical movement at end of fingers are more sensitive to changes of loads, and higher working pressure is beneficial for the stable gesture of soft robot hands. Generally, the performance of the four-fingered humanoid hand is the best by comparison. These findings will provide a reference for the design optimization and precise control of soft grippers.
Five asymmetrical soft robot hands are designed for the stable picking of fruit and vegetables, and optimized. The evaluation indicators were proposed for the analysis of the three-dimensional(3 D) deformation of fingers in lateral grasping with multi-fingered soft hands at different load masses. The indicators included the minimum working pressure, the distortion angle of finger and the vertical displacement of finger. Through the test of the deformation of a single finger with no load at different working pressures and the test for the five multi-fingered robot hands in different loads and at different working pressures, the change of deformation of fingers in different working conditions were derived. The results indicate that the robot hands with asymmetrically placed fingers show less increase in the minimum working pressure and deformation when higher load is imposed. For the conditions involved, the vertical movement at end of fingers are more sensitive to changes of loads, and higher working pressure is beneficial for the stable gesture of soft robot hands. Generally, the performance of the four-fingered humanoid hand is the best by comparison. These findings will provide a reference for the design optimization and precise control of soft grippers.
引文
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[14] 钱少明,杨庆华,王志恒,等.黄瓜抓持特性与末端采摘执行器研究[J].农业工程学报,2010,26(7):107-112.QIAN S M,YANG Q H,WANG Z H,et al.Research on Holding Characteristics of Cucumber and End-effector of Cucumber Picking[J].Transactions of the Chinese Society of Agricultural Engineering,2010,26(7):107-112.
[15] 刘庆运,钱瑞明,颜景平.机器人多指手抓取运动学研究综述[J].机械科学与技术,2006,25(8):967-971.LIU Q Y,QIAN R M,YAN J P.A Survey of Grasping Kinematics by Multifingered Robot Hand[J].Mechanical Science and Technology,2006,25(8):967-971.
[2] LEE C,KIM M,KIM Y J,et al.Soft Robot Review[J].International Journal of Control Automation & Systems,2017,15(1):3-15.
[3] 彭艳,刘勇敢,杨扬,等.软体机械手爪在果蔬采摘中的应用研究进展[J].农业工程学报,2018,34(9):11-20.PENG Y,LIU Y G,YANG Y,et al.Research Progress on Application of Soft Robotic Gripper in Fruit and Vegetable Picking[J].Transactions of the Chinese Society of Agricultural Engineering,2018,34(9):11-20.
[4] 刘旭东,马履中.一种基于变胞机构的苹果采摘执行器的设计[J].机床与液压,2017,45(5):14-16.LIU X D,MA L Z.Design of an Apple Picking Actuator Based on Metamorphic Mechanism[J].Machine Tool & Hydraulics,2017,45(5):14-16.
[5] 吴翠琴,刘祚时.脐橙采摘机器人运动分析与研究[J].机床与液压,2014,42(21):64-67.WU C Q,LIU Z S.Kinematic Analysis and Study of Navel Orange Picking Robot[J].Machine Tool & Hydraulics,2014,42(21):64- 67.
[6] ELANGO N,FAUDZI A A M.A Review Article:Investigations on Soft Materials for Soft Robot Manipulations[J].International Journal of Advanced Manufacturing Technology,2015,80(5/6/7/8):1027-1037.
[7] 张润玺,王贺升,陈卫东.仿章鱼软体机器人形状控制[J].机器人,2016,38(6):754-759.ZHANG R X,WANG H S,CHEN W D.Shape Control for a Soft Robot Inspired by Octopus[J].Robot,2016,38(6):754-759.
[8] WANG Y J,CHEN H L,LIU J Y,et al.Aided Manufacturing Techniques and Applications in Optics and Manipulation for Ionic Polymer-metal Composites as Soft Sensors and Actuators[J].Journal of Polymer Engineering,2015,35(7):611-626.
[9] TAVAKOLI M,SAYUK A,LOURENCO J,et al.Anthropomorphic Finger for Grasping Applications:3D Printed Endoskeleton in a Soft Skin[J].International Journal of Advanced Manufacturing Technology,2017,91(5/6/7/8):1-14.
[10] 鲍官军,高峰,荀一,等.气动柔性末端执行器设计及其抓持模型研究[J].农业工程学报,2009,25(10):121-126.BAO G J,GAO F,XUN Y,et al.Flexible End-effector Based on Flexible Pneumatic Actuator and its Grasping Model[J].Transactions of the Chinese Society of Agricultural Engineering,2009,25(10):121-126.
[11] 费燕琼,庞武,于文博.气压驱动软体机器人运动研究[J].机械工程学报,2017,53(13):14-18.FEI Y Q,PANG W,YU W B.Movement of Air-Driven Soft Robot[J].Chinese Journal of Mechanical Engineering,2017,53(13):14-18.
[12] 王皓,高国华,夏齐霄,等.连续体采摘机械臂末端静态承载姿态等效模型建立与验证[J].农业工程学报,2018,34(5):23-31.WANG H,GAO G H,XIA Q X,et al.Establishment and Verification on Static Equivalent Model of End Load Posture of Continuum Picking Manipulator[J].Transactions of the Chinese Society of Agricultural Engineering,2018,34(5):23-31.
[13] 王华,康荣杰,王兴坚,等.软体弯曲驱动器设计与建模[J].北京航空航天大学学报,2017,43(5):1053-1060.WANG H,KANG R J,WANG X J,et al.Design and Modeling of a Soft Bending Actuator[J].Journal of Beijing University of Aeronautics and Astronautics,2017,43(5):1053-1060.
[14] 钱少明,杨庆华,王志恒,等.黄瓜抓持特性与末端采摘执行器研究[J].农业工程学报,2010,26(7):107-112.QIAN S M,YANG Q H,WANG Z H,et al.Research on Holding Characteristics of Cucumber and End-effector of Cucumber Picking[J].Transactions of the Chinese Society of Agricultural Engineering,2010,26(7):107-112.
[15] 刘庆运,钱瑞明,颜景平.机器人多指手抓取运动学研究综述[J].机械科学与技术,2006,25(8):967-971.LIU Q Y,QIAN R M,YAN J P.A Survey of Grasping Kinematics by Multifingered Robot Hand[J].Mechanical Science and Technology,2006,25(8):967-971.