| 李亚丽,曹中华,潘良,董继伟,杨长辉,湛小梅.柑橘采摘机器人末端执行器设计与试验 [J].中国南方果树,2024,53(1): |
| 柑橘采摘机器人末端执行器设计与试验 |
| Design and experiment of end effector of Citrus picking robot |
| 投稿时间：2023-01-01 修订日期：2023-03-31 |
| DOI：10.13938/j.issn.1007-1431.20230001 |
| 中文关键词: 末端执行器 动力学分析 模态分析 静强度分析 柑橘采摘 |
| 英文关键词:End effector Dynamics analysis Modal analysis Static strength analysis Citrus picking |
| 基金项目: |
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| 中文摘要: |
| 针对现有柑橘采摘末端执行器单果采摘时间长、采摘成功率低等问题,本文设计了一款柑橘采摘末端执行器,主要由抓取机构、剪切机构、连接架及控制系统等部分组成,通过控制系统,抓取机构可以实现柑橘无损抓取,剪切机构可将果梗与柑橘快速分离。应用CATIA软件建立末端执行器的三维模型,借助UG与ABAQUS软件对其进行模态分析与静强度分析,得到末端执行器在采摘柑橘过程中不会发生共振,最大变形量为0.077mm和最大应力为853.1MPa,满足材料力学要求。田间采摘试验结果表明：在采摘机器人机械臂姿态的采摘角度为45°,切割刀刃角度为45°,空压机气压为6kPa时,单果采摘时间最小和采摘成功率最高。该文研究的柑橘采摘机器人末端执行器采摘速度高、控制难度低、与机械臂集成度高,可为柑橘采摘机器人的整体研发提供参考。 |
| 英文摘要: |
| In view of the problems of long single fruit picking time and low picking success rate of the existing citrus picking end effector, this paper designs a citrus picking end effector, which is mainly composed of flexible grasping mechanism, cutting mechanism, connecting frame and control system. Through the control system, the grasping mechanism can realize the non-destructive grasping of citrus, and the cutting mechanism can quickly separate citrus from fruit stalks. The three-dimensional model of the end effector is established by CATIA software. The modal analysis and static strength analysis are carried out by UG and ABAQUS software. The results show that the end effector will not resonate in the process of picking citrus. The maximum deformation is 0.077mm and the maximum stress is 853.1MPa, which meets the requirements of material mechanics. The results of field picking experiments show that when the picking angle of the robot arm is 45 °, the cutting edge angle is 45 °, and the air pressure of the air compressor is 6kpa, the single fruit picking time is the minimum and the picking success rate is the highest. The end effector of the citrus picking robot studied in this paper has high picking speed, low control difficulty and high integration with the manipulator, which can provide a reference for the overall research and development of the citrus picking robot. |
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