仿蛇嘴咬合式柑橘采摘末端执行器设计与实验
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摘要
提出了通过改进采摘机器人的末端执行器来实现未知柑橘果柄空间方位的柑橘采摘,以提高采摘机器人的采摘能力。对柑橘果柄生长情况进行了调研,定义了果柄倾角并进行了统计,对果柄极限位置的剪切要求进行了分析并得出了末端执行器的设计要求。根据蛇的咬合动作和蛇嘴骨骼的特殊结构,通过仿照蛇嘴结构设计咬合式末端执行器能够满足设计要求。对蛇头骨骼结构进行了简化,提出了两种设计思路,并据此分别设计了两种机构的初步模型,经过运动学分析确定了较优方案,并对初步模型进行了优化,确定了末端执行器的三维模型。根据三维模型建立了末端执行器的运动学模型,并进行了运动学分析和仿真,保证了机构设计合理。制造了咬合式末端执行器样机并通过课题组自行研制的柑橘采摘机器人进行了实验室环境和自然环境的实验验证。实验结果表明,在实验室环境下,果柄倾角为0°、气压为0.6 MPa、果柄直径不超过4.0 mm条件下的切断成功率不小于95%,不同果柄倾角的总体切断成功率为97.5%;在室外环境下,收获柑橘的总成功率为87.5%,基本实现了未知果柄空间方位下对柑橘的采摘。
Aiming to improve the picking ability of the harvesting robot,a bite-model end-effector for citrus was designed. The design requirements of the end-effector were obtained by first investigation of the growth of citrus stem,the inclination of the stem and doing statistics was defined,and the shearing requirements of the stem extreme position was lastly analyzed. That the design of the bite-model endeffector can meet the design requirements by simulating the snake mouth structure which followed the snake's biting action and the special structure of the snake's mouth bones. Two design ideas were proposed by simplifying the structure of the snakehead skeleton. Based on this,the initial model of the two kinds of mechanism was designed respectively. After the preliminary kinematics analysis,the optimal scheme was determined and the initial model was optimized,and the three-dimensional model of the endeffector was determined. According to the three-dimensional model,the kinematics model of the endeffector was established,and the kinematics analysis and simulation were carried out to ensure the reasonable design of the mechanism. A bite-model end-effector prototype was manufactured,and then it was verified by the citrus harvesting robot developed by the research group in laboratory and outdoor environment. In laboratory environment,the experimental results showed that the cutting success rate was not less than 95% under the condition that the air pressure was 0. 6 MPa,the inclination of the stem was0°,the stem diameter was no more than 4. 0 mm,and the overall cutting success rate for different stem inclinations was 97. 5%. The total success rate of harvesting citrus in the outdoor environment was87. 5%.
Aiming to improve the picking ability of the harvesting robot,a bite-model end-effector for citrus was designed. The design requirements of the end-effector were obtained by first investigation of the growth of citrus stem,the inclination of the stem and doing statistics was defined,and the shearing requirements of the stem extreme position was lastly analyzed. That the design of the bite-model endeffector can meet the design requirements by simulating the snake mouth structure which followed the snake's biting action and the special structure of the snake's mouth bones. Two design ideas were proposed by simplifying the structure of the snakehead skeleton. Based on this,the initial model of the two kinds of mechanism was designed respectively. After the preliminary kinematics analysis,the optimal scheme was determined and the initial model was optimized,and the three-dimensional model of the endeffector was determined. According to the three-dimensional model,the kinematics model of the endeffector was established,and the kinematics analysis and simulation were carried out to ensure the reasonable design of the mechanism. A bite-model end-effector prototype was manufactured,and then it was verified by the citrus harvesting robot developed by the research group in laboratory and outdoor environment. In laboratory environment,the experimental results showed that the cutting success rate was not less than 95% under the condition that the air pressure was 0. 6 MPa,the inclination of the stem was0°,the stem diameter was no more than 4. 0 mm,and the overall cutting success rate for different stem inclinations was 97. 5%. The total success rate of harvesting citrus in the outdoor environment was87. 5%.
引文
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15尹建军,陈永河,贺坤,等,抓持旋切式欠驱动双指手葡萄采摘装置设计与试验[J/OL].农业机械学报,2017,48(11):12-19.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20171102&flag=1.DOI:10.6041/j.issn.1000-1298.2017.11.002.YIN Jianjun,CHEN Yonghe,HE Kun,et al.Design and experiment of grape-picking device with grasping and rotary-cut type of underactuated double fingered hand[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(11):12-19.(in Chinese)
16刘子娟,费健,付庄,等,仿生蛇嘴的机构原理与设计[J].中南大学学报(自然科学版),2011,42(增刊1):478-482.LIU Zijuan,FEI Jian,FU Zhuang,et al.Mechanical principle and design of bionic snake mouth[J].Journal of Central South University(Science and Technology),2011,42(Supp.1):478-482.(in Chinese)
17 FRAZZETTA T H.Studies on the morphology and function of the skull in the Aoidae(Serpentes).Part II.morphology and function of the jaw apparatus in Phython sebae and Python molurus[J].Morph,1966,118:217-296.
18 KARDONG K V,DULLEMEIJER P,FRANSEN J A M.Feeding mechanism in the rattlesnake crotalus durissus[J].AmphibiaReptilia,1986,7(3):271-302.
19 SMC中国[EB].http:∥www.smc.com.cn/PDF/subchoice03.htm.
20张哲,王毅,付瞬,等.基于咬合型末端执行器的柑橘采摘机器人采摘姿态研究[J].中国农业科技导报,2018,20(5):75-82.ZHANG Zhe,WANG Yi,FU Shun,et al.Study on the picking posture of the citrus harvesting robot based on occlusal endeffector[J].Journal of Agricultural Science and Technology,2018,20(5):75-82.(in Chinese)
21 CRAIG J J.机器人学导论[M].3版.贠超,译.北京:机械工业出版社,2006.
2 BAC C W,ROORDA T,RESHEF R,et al.Analysis of a motion planning problem for sweet pepper harvesting in a dense obstacle environment[J].Biosystems Engineering,2016,146:85-97.
3 BECHAR A,VIGNEAULT C.Agricultural robots for field operations:concepts and components[J].Biosystems Engineering,2016,149:94-111.
4 ZHONG H,NOF S Y,BERMAN S.Asynchronous cooperation requirement planning with reconfigurable end-effectors[J].Robotics and Computer-Integrated Manufacturing,2015,34:95-104.
5 WANG G H,YU Y B,FENG Q C.Design of end-effector for tomato robotic harvesting[C]∥5th IFAC Conference on Sensing,Control and Automation Technologies for Agriculture,2016:190-193.
6 KONDO N,YATA K,LIDA M,et al.Development of an end-effector for a tomato cluster harvesting robot[J].Engineering in Agriculture,Environment and Food,2010,3(1):20-24.
7 JIA B Z,ZHU A M,YANG S X,et al.Integrated gripper and cutter in a mobile robotic system for harvesting greenhouse products[C]∥Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics,2009:1778-1783.
8 LI J,KARKEE M,ZHANG Q,et al.Characterizing apple picking patterns for robotic harvesting[J].Computers and Electronics in Agriculture,2016,127:633-640.
9 LIU J Z,LI Z G,WANG F Y,et al.Hand-arm coordination for a tomato harvesting robot based on commercial manipulator[C]∥Proceedings of the IEEE International Conference on Robotics and Biomimetics(ROBIO),2013:2715-2720.
10韩绿化,毛罕平,缪小花,等.基于穴盘苗力学特性的自动取苗末端执行器设计[J/OL].农业机械学报,2013,44(11):260-265.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20131144&flag=1.DOI:10.6041/j.issn.1000-1298.2013.11.044.HAN Lühua,MAO Hanping,MIAO Xiaohua,et al.Design of automatic picking up seedling end-effector based on mechanical properties of plug seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):260-265.(in Chinese)
11刘继展,李茂,李男,等.草莓穴盘苗移栽末端执行器设计与试验[J/OL].农业机械学报,2016,47(11):49-58.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20161107&flag=1.DOI:10.6041/j.issn.1000-1298.2016.11.007.LIU Jizhan,LI Mao,LI Nan,et al.Design and test of end-effector for automatic transplanting of strawberry plug seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):49-58.(in Chinese)
12陈燕,蒋志林,李嘉威,等.夹剪一体的荔枝采摘末端执行器设计与性能试验[J/OL].农业机械学报,2018,49(1):35-41.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20180104&flag=1.DOI:10.6041/j.issn.1000-1298.2018.01.004.CHEN Yan,JIANG Zhilin,LI Jiawei,et al.Design and testing of litchi picking end-effector integrated clamping and cutting performance[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(1):35-41.(in Chinese)
13 DAVIDSON J R,SILWAL A,HOHIMER C J,et al.Proof-of-concept of a robotic apple harvester[C]∥2016 IEEE/RSJInternational Conference on Intelligent Robots and Systems(IROS),2016:634-639.
14李建伟,陈艳艳,苹果采摘机器人末端执行器的原理及试验研究[J].农机化研究,2017,39(9):139-142.LI Jianwei,CHEN Yanyan.Structural principle and experimental research on the end effector of apple picking robot[J].Journal of Agricultural Mechanization Research,2017,39(9):139-142.(in Chinese)
15尹建军,陈永河,贺坤,等,抓持旋切式欠驱动双指手葡萄采摘装置设计与试验[J/OL].农业机械学报,2017,48(11):12-19.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20171102&flag=1.DOI:10.6041/j.issn.1000-1298.2017.11.002.YIN Jianjun,CHEN Yonghe,HE Kun,et al.Design and experiment of grape-picking device with grasping and rotary-cut type of underactuated double fingered hand[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(11):12-19.(in Chinese)
16刘子娟,费健,付庄,等,仿生蛇嘴的机构原理与设计[J].中南大学学报(自然科学版),2011,42(增刊1):478-482.LIU Zijuan,FEI Jian,FU Zhuang,et al.Mechanical principle and design of bionic snake mouth[J].Journal of Central South University(Science and Technology),2011,42(Supp.1):478-482.(in Chinese)
17 FRAZZETTA T H.Studies on the morphology and function of the skull in the Aoidae(Serpentes).Part II.morphology and function of the jaw apparatus in Phython sebae and Python molurus[J].Morph,1966,118:217-296.
18 KARDONG K V,DULLEMEIJER P,FRANSEN J A M.Feeding mechanism in the rattlesnake crotalus durissus[J].AmphibiaReptilia,1986,7(3):271-302.
19 SMC中国[EB].http:∥www.smc.com.cn/PDF/subchoice03.htm.
20张哲,王毅,付瞬,等.基于咬合型末端执行器的柑橘采摘机器人采摘姿态研究[J].中国农业科技导报,2018,20(5):75-82.ZHANG Zhe,WANG Yi,FU Shun,et al.Study on the picking posture of the citrus harvesting robot based on occlusal endeffector[J].Journal of Agricultural Science and Technology,2018,20(5):75-82.(in Chinese)
21 CRAIG J J.机器人学导论[M].3版.贠超,译.北京:机械工业出版社,2006.