黄瓜抓持特性与末端采摘执行器研究

为了设计用于黄瓜采摘的末端执行器，首先测定了黄瓜的抗压特性、表面摩擦系数和果柄切断阻力等物理特性。针对黄瓜抓持模型进行了力学分析，建立了气动驱动器中的气压值与抓持能力之间的关系。最后，研制了可用于黄瓜采摘的末端执行器，由抓持器和切割器组成，抓持器由2个基于气动柔性驱动器的弯曲关节构成，切割器由旋转气缸和刀片构成。该采摘执行器机械结构简单，输出力较大。试验结果表明：黄瓜抓持成功率为90%，黄瓜果柄割断成功率为100%，采摘时间为3 s。该采摘执行器采摘黄瓜效果良好，具有较好的实际应用前景。

Research on holding characteristics of cucumber and end-effector of cucumber picking

In order to design an end-effector for picking the cucumber, at first, the compressibility characteristic of the cucumber, the cutting characteristic of cucumber peduncle and the friction coefficient of cucumber coat were measured. The holding model of cucumber was analyzed with the static mechanical analysis method, the relationship between the pressure value of compressed air in the pneumatic actuator and picking capacity was established. At last, a new type of end-effector, which consisted of a picker and a cutter, was developed. The picker consisted of two flexible pneumatic bending joints, and the cutter consisted of a rotary cylinder and a knife. The mechanical structure of the end-effector was simple, and the output force of the end-effector of cucumber picking was big. The experimental results showed the success ratio of picking cucumber reached 90 percent, the success ratio of cutting cucumber peduncle reached 100 percent, and the time of picking one cucumber was three seconds. The effect of the end-effector of cucumber picking is well, and the end-effector of cucumber picking has a bright application prospect.