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针对荔枝串果低损高效的机械化采摘,设计了具有单动力源驱动、夹剪一体的荔枝采摘机器人末端执行器,构建了剪切力学模型和稳定夹持力学模型,分析了夹持模块的力封闭性,推导了稳定夹持的三点接触正压力计算模型,设计了末端执行器的物理样机,并对其进行了采摘、负重和抗遮挡干扰工作性能测试试验。试验结果表明:末端执行器具有良好的夹持负重能力,串果母枝直径分别为3mm和7mm时,动态最大负重量分别为1.33kg和3.01kg;采摘时能快速剪切母枝并稳定夹持串果,平均夹剪时间为2 s,串果母枝直径5mm以下采摘成功率均为100%,串果母枝直径6~7mm采摘平均成功率为70%;具有中等抗遮挡干扰采摘能力。
Aimed at low cost and efficient mechanized picking of litchi and string fruit, a litchi picking robot end effector with single power source driven and clipper and shear was designed. The shear mechanics model and the stable clamping mechanics model were constructed. The force of clamping the module Closed, the three-point contact positive pressure calculation model of the stable clamping was deduced, the physical prototype of the end effector was designed, and the performance test of picking, weighting and anti-blocking interference was carried out. The experimental results show that the end effector has a good ability of clamping and holding, and the maximum dynamic load of 1.33kg and 3.01kg respectively when the diameter of mother-fruit branch is 3mm and 7mm respectively. The average fruit clipper holding time was 2 s, the success rate of picking fruits with the diameter of 5 mm was less than 100%, and the average success rate of picking fruits with the diameter of 6 ~ 7 mm was 70%. .