摘要
为加速智能机器人替代人工进行果蔬采摘,以提高作业质量和效率,提出了一种运动灵活仿人手果蔬采摘末端执行器。该末端执行器采用两关节全驱动的方式,通过3个手指的2个关节(近指关节1和远指关节2)相互配合实现类似人手握取果实的动作;建立两关节全驱动手指的包络抓取机构静力学模型,求得近指关节连杆机构中输入转矩和接触力之间的关系,从而更好地实现对果蔬作用力的控制,以减少果蔬损伤。最后基于Solid Works对整个机构进行仿真试验,验证结果表明机构具有合理性。该果蔬采摘末端执行器通用性强,能够补偿机器人图像识别误差。
In order to accelerate the fruits and vegetables picking by intelligent robot instead of humans, and to improve the quality and efficiency of the operation, a flexible and humanoid hand end effector for picking fruits and vegetables was proposed. The end effector is driven by the mode of two - joint full drive, and through the 2 joints （ proximal finger joint 1 and distal finger joint 2 ） cooperation with each other to hold the fruit like human hand. A static model of envelope grasping mechanism of two joint full drive finger was established to obtain the relation between the input torque and the contact force in the linkage mechanism of the proximal finger joint and the control of the force applied to the fruit and vegetable to reduce the damage of fruits and vegetables. Finally, the simulation experiments of the whole mechanism based on SolidWorks was carried out to verify the rationality of the mechanism. The end effector of the fruit and vegetable picking machine has high versatility and can compensate the robot image recognition error.
作者
夏凡
沈精虎
张敏
XIA Fan,SHEN Jinghu,ZHANG Min(School of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,Shandong,Chin)
出处
《轻工机械》
CAS
2018年第2期69-72,共4页
Light Industry Machinery
