摘要
现有的刚性机械手存在自适应性差、质量大、不适宜在农业采摘中应用。本文介绍一种适宜农业采摘的柔性机械手,设计该手爪的内部结构,研究机械手的气动控制系统。在不同气压条件下对柔性机械手进行分析,得到夹持力随气压变化的规律,并以不同目标物为研究对象对柔性机械手进行实验分析,实验结果验证柔性机械手抓取果实的可行性,在农业采摘中具有良好的应用前景。
There are so many problems in the current mechanical arm holders such as poor adaptability and greater mass.It is not suitable for using in agricultural harvesting.This paper was presented a software robotic gripper suitable for agricultural operations.It was designed the internal structure of the claw,and studied the pneumatic control system of the manipulator.This study was drawn a calculation for the variation of clamping force with air pressure by analyzing flexible grippers under different atmospheric pressure conditions.And it was used different targets as research objects,the study proved the feasibility of grasping fruit by soft mechanical claws through experiments.There are good application prospects in agricultural harvesting.
作者
刘凡
杨光友
杨康
Liu Fan;Yang Guangyou;Yang Kang(Institute of Agricultural Machinery,Hubei University of Technology,Wuhan,430068,China;Hubei Province Engineering Technology Research Center for Intelligent Agricultural Machinery,Wuhan,430068,China)
出处
《中国农机化学报》
北大核心
2019年第3期173-178,共6页
Journal of Chinese Agricultural Mechanization
基金
武汉市重点科技攻关项目(2015020202010129)
关键词
农业采摘
柔性机械手爪
气压驱动
agricultural picking
software robotic claw
gas-driving
