| 采摘机器人末端执行器研究现状与展望 |
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| 引用本文： | 王凤云,刘继展,李萍萍. 采摘机器人末端执行器研究现状与展望[J]. 农机化研究, 2011, 33(11) |
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| 作者姓名： | 王凤云 刘继展 李萍萍 |
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| 作者单位： | 江苏大学农业工程研究院,江苏镇江212013;江苏大学现代农业装备与技术省部共建教育部重点实验室,江苏镇江212013;江苏大学江苏省农业装备与智能化高技术研究重点实验室,江苏镇江212013 |
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| 基金项目： | 国家自然科学基金项目(50905076); 江苏省教育厅项目(09KJD210002); 江苏高校优势学科建设工程资助项目(苏财教﹝2011﹞8号) |
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| 摘 要： | 简述了国内外末端执行器的发展现状,对非夹持与夹持类的果实获取方式和拉、折、剪、热切割等不同分离方式进行了分析与比较,对吸盘、推杆、安全杆等附加机构的功能与配置方式进行了归纳,并介绍了末端执行器中视觉、距离、接近等传感器的集成应用情况,进而指出了末端执行器研究中仍存在的问题。同时,对采摘机器人末端执行器的发展进行了展望。
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| 关 键 词： | 采摘机器人 末端执行器 发展现状 |
Present Situation and Prospect of End-effector for Harvesting Robot |
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| Wang Fengyun,Liu Jiznan,Li Pingping. Present Situation and Prospect of End-effector for Harvesting Robot[J]. Journal of Agricultural Mechanization Research, 2011, 33(11) |
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| Authors: | Wang Fengyun Liu Jiznan Li Pingping |
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| Affiliation: | Wang Fengyuna,b,c,Liu Jizhana,Li Pingpinga,c(a.Agricultural Engineering,b.Key Laboratory of Modern Agricultural Equipment and Technology,c.High-tech Key Laboratory of Agricultural Equipment & Intelligentization of Jiangsu Province,Jiangsu University,Zhenjiang 212013,China) |
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| Abstract: | Present situation of end-effector for harvesting robot is introduced in this paper,holded and non-holded two harvesting ways is studied,certain detaching method to pick fruits from a plant is analysised and compared,such as stretching,bending,scissor-cutting and thermal-cutting.Meanwhile,some function and configuration of attached parts is induced,such as suction cup,handspike and safety device.Visual sensor,distance measuring sensor and proximity sensor is aslo introduced in detail.Then point several unset... |
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| Keywords: | harvesting robot end-effector present situation |
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