新型具有力感知的柔性果蔬采摘机械手研究

研发了基于设施农业的果蔬采摘机械手,包括具有3个旋转关节自由度的采摘机械臂及具有力反馈功能的三指果蔬采摘末端执行器,并对其控制系统进行了开发。通过采摘模拟试验,验证了其作业性能、采摘效果。试验结果表明:采摘机械手各关节与控制系统配合良好,运行稳定;采摘末端执行器手指控制灵活,传感器响应灵敏,能够实现稳定抓取并不损伤果实,具有推广价值。

Study on a New Type of Flexible Fruit and Vegetable Picking Manipulator with Force Sensing

This paper developed a manipulator of fruits and vegetables picking based on agricultural facilities, including 3-DOF picking manipulator with rotational joint structure and, three finger picking end actuator with force feedback func-tion. The control system of picking manipulator is developed. The performance of the operation and picking results were verified by the simulation experiment. Experimental results show that each joint movement state of the picking manipula-tor is good and the response of the picking manipulator is rapid and the control system of the picking manipulator is stable operation and picking end actuator controls flexibly and the sensor response is sensitive and picking end actuator is able to grasp stably not to damage the fruit. The picking manipulator has the value of popularization.