串番茄采摘末端执行器的设计与夹持实验

基于串番茄生长特性和采摘要求,设计了一种适应于采摘成串番茄的末端执行器。基于螺旋理论,建立了夹持接触力学模型,分析了夹持的力封闭性;同时,建立了稳定夹持模型,对夹指的可靠夹持力进行了分析,得出夹持力F≥8.24N。制作了物理样机,并对直径为3~8mm的串番茄母枝进行了负重干扰性能的夹持实验,实验结果表明:夹指所能承受的动态负重随母枝直径的增大而增大,最小动态负重为1.015kg,完全满足采摘串番茄时的夹持能力需求。

Design and Clamping Experiment of End Effector for Picking String Tomato

In order to promote the mechanization of cluster tomato picking,based on the growth characteristics and picking requirements of cluster tomatoes,this paper designed an end-effector suitable for cluster tomato picking.Based on the spiral theory,the mechanical model of clamping contact is established,and the force sealing property of clamping is analyzed.At the same time,a stable clamping model was established to analyze the reliable clamping force of the fingers,and it was concluded that the clamping force F≥8.24N.At last,a physical prototype was made,and the clamping experiment of load-bearing interference performance was carried out on it.The experimental results showed that:when the diameter of bunch tomato mother branch was 3-8mm,the dynamic load-bearing capacity of the clamping finger increased with the increase of the diameter of the mother branch,and the minimum dynamic load-bearing capacity was 1.015kg.The end-effector can fully satisfy the gripping ability of picking bunch tomatoes.