摘要
针对草莓果实采摘易损坏以及收获期劳动强度大等问题,设计了1种气动柔性草莓采摘机械手末端执行器装置。该设计在草莓采摘机械手末端执行装置中加入柔性手指单元,利用其柔性变形,在实现对草莓包络动作的同时降低了采摘中对果实的损坏。在SolidWorks软件中建立气动柔性草莓采摘机械手模型;然后将模型导入ADAMS软件,通过柔性单元的替换、运动学参数的添加,建立动力学仿真模型。通过对采摘机械手的包络过程、各手指单元的运动过程进行动力学仿真分析,仿真结果表明,气动柔性草莓采摘机械手可以有效完成对草莓的包络,验证了本设计的合理性。
A pneumatic flexible strawberry picking manipulator end effector is designed to focus on the problems that strawberry fruit is easy to damage and the intensity of labor in harvest is heavy. The flexible finger units are put into the strawberry picking manipulator end effector. The flexible deformation is used to achieve the strawberry enveloping action, and reduce the damage of the fruit during the picking. The model of pneumatic flexible strawberry picking manipulator is established by SolidWorks soft-ware. Then, the model is imported into ADAMS software. The dynamic simulation model is established by the replacement of the flexible unit and the addition of the kinematic parameters. By the envelope process of picking manipulator and the dynamic simulation analysis of the movement process in each finger unit, simulation results show that a pneumatic flexible strawberry picking manipulator can effectively complete the envelope of the strawberry. The rationality of the design is verified, which lays the foundation for the follow-up study and the manufacture of the prototype.
作者
刘畅
李娜
刘佳
LIU Chang LI Na LIU Jia(College of Mechanical and Electrical Engineering,Hebei Agricultural University,Baoding, Hebei 071001 , China)
出处
《中国科技论文》
北大核心
2017年第4期390-393,共4页
China Sciencepaper
基金
国家自然科学基金资助项目(51305125)
河北省自然科学基金(E2013204110)
河北省高校优秀青年基金(YQ2013007)
