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基于氣動(dòng)柔性驅(qū)動(dòng)器的球果采摘末端抓持器
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國(guó)家自然科學(xué)基金資助項(xiàng)目（51075363）;浙江省自然科學(xué)基金杰出青年團(tuán)隊(duì)資助項(xiàng)目(R1090674)


Design of Spherical Fruit End-grasper Based on FPA
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    摘要:

    為實(shí)現(xiàn)球果的安全、可靠采摘，基于氣動(dòng)柔性驅(qū)動(dòng)器（FPA）設(shè)計(jì)了球果采摘末端執(zhí)行器，主要由3個(gè)FPA驅(qū)動(dòng)的手指和基座構(gòu)成。建立了手指指端在基座坐標(biāo)系內(nèi)的運(yùn)動(dòng)學(xué)方程，分析了末端抓持器在任意姿態(tài)下進(jìn)行球果抓握的力學(xué)過(guò)程，建立了球果抓持?jǐn)?shù)學(xué)模型。實(shí)驗(yàn)結(jié)果表明，所設(shè)計(jì)的球果采摘末端執(zhí)行器可對(duì)成熟球果進(jìn)行任意姿態(tài)的抓握，建立的數(shù)學(xué)模型可用于實(shí)際的采摘過(guò)程控制。

    Abstract:

    With the aim to realize the safe and stable picking of spherical fruit, a type of picking end-grasper was designed based on the flexible penumatic actuator (FPA). The end-grasper was mainly composed of a base and three fingers driven by FPAs. The kinematics of finger tips in the base coordinate was established. The force model of spherical fruit grasping under discretional orientation was analyzed and the grasping mathematic model was built. The experimental results showed that the designed spherical fruit end-grasper could pick and hold mature fruit under discretional orientation and the mathematic model could be adopted in fruit-picking practice control.

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鮑官軍,張水波,陳亮,楊慶華.基于氣動(dòng)柔性驅(qū)動(dòng)器的球果采摘末端抓持器[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(5):242-246. Bao Guanjun, Zhang Shuibo, Chen Liang, Yang Qinghua. Design of Spherical Fruit End-grasper Based on FPA[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(5):242-246.

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  • 在線發(fā)布日期: 2013-04-28
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