摘要
针对草莓采摘过程中的无损抓取作业需求,改进传统三指软体抓手的结构,基于草莓外部轮廓曲线设计新型单指软体抓手.基于Abaqus仿真软件对单指抓手完成结构优化,提升弯曲性能,实现软体抓手的完整包裹效果.改进制造工艺,有效提升单指抓手的重复使用率和安全性.利用高速摄像机和动态捕捉技术,分析单指抓手上下端面的弯曲变形规律.测试草莓表面的最小破坏应力和单指抓手的末端力,验证了无损抓取的可行性.将单指抓手安装在机械臂上进行草莓抓取测试,在模拟草莓自然生长状态时,抓取成功率为80%,破损率为7.5%.结果表明,气动单指软体抓手可以实现草莓的无损抓取.
The structure of the traditional three-finger soft gripper was improved,and a new type of single-finger soft grip was designed based on the strawberry curve for non-destructive grabbing in the process of picking strawberry.Firstly,the structure of the single-finger gripper was optimized based on Abaqus simulation software to realize the complete package of the soft gripper and improve the bending performance.And the manufacturing process was improved to effectively enhance the reuse rate and safety of the single finger gripper.Then,using high speed camera and dynamic capture technology,the bending deformation law of the upper and lower end faces of the single finger gripper was analyzed.Thirdly,both the minimum failure stress on surface of the strawberry and the end force of the soft gripper were test,and the feasibility of nondestructive grasping was verified based on these results.Finally,the single-finger gripper was installed on the manipulator arm to carry out the strawberry grasping test.After simulating the natural growth state of strawberries,the success rate reached 80%and the damage rate was 7.5%.The results proved that the pneumatic single-finger soft gripper could realize the nondestructive grasping of strawberries.
作者
李健
戴楚彦
王扬威
郭艳玲
查富生
LI Jian;DAI Chu-yan;WANG Yang-wei;GUO Yan-ling;ZHA Fu-sheng(Key Laboratory of Forestry Intelligent Equipment Engineering of Heilongjiang Province,Northeast Forestry University,Harbin 150040,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150090,China)
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2022年第6期1088-1096,1134,共10页
Journal of Zhejiang University：Engineering Science
基金
国家自然科学基金资助项目(51905084)。
关键词
软体机器人
气动驱动
有限元仿真
优化设计
草莓抓取实验
soft robot
pneumatic
finite element simulation
optimization design
strawberry grasping experiment
