基于气动柔性驱动器的苹果采摘末端执行器研究  

Research on End-effector of Apple Picking Based on New Flexible Pneumatic Actuator

作　　者：杨庆华[1] 金寅德[1] 钱少明[1] 鲍官军[1] 

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部重点实验室,杭州310014

出　　处：《农业机械学报》2010年第9期154-158,204,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家"863"高技术研究发展计划资助项目(2009AA04Z209);浙江省自然科学基金资助项目(R1090674)

摘　　要：设计了一种基于气动柔性驱动器的苹果采摘末端执行器:以气动柔性驱动器作为其弯曲关节,用力学分析的方法对弯曲关节及末端执行器进行建模,分析建立关节弯曲量及输出力与其内腔气体压力之间的数学关系;建立了末端执行器抓取苹果目标的数学模型。实验结果表明:该末端执行器有较大的输出力,能很好地抓持苹果,并具有很好的柔顺性。A new type of end-effector was developed based on flexible pneumatic actuator（FPA）,which was designed as a bending joint.The mathematical model of bending joints and end-effector was established with mechanical analysis method,the relationship between pressure and bending capacity,as well as the relationship between pressure and output bending force was analyzed.The mathematical model for end-effector of crawling apple was built.The experimental results show that the force of the end-effector is quite strong and the actuator can grasp apples perfectly and flexibly.

关 键 词：苹果 采摘机器人 末端执行器 气动柔性驱动器 弯曲关节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]