双臂式茶叶采摘机器人的改进设计  

The Improve Design of Tea Picking Robot With Two Arms

作　　者：陆鑫[1] 李恒[1] 徐丽明[1] 秦广明[2] 赵映[2] 

机构地区：[1]中国农业大学工学院,北京100083 [2]农业部南京农业机械化研究所,南京210014

出　　处：《农机化研究》2015年第2期101-106,共6页Journal of Agricultural Mechanization Research

基　　金："十二五"国家科技支撑计划项目(2011BAD20B07-3)

摘　　要：针对现有龙门式茶叶采摘机器人成本高、作业效率低的缺点,改进设计了双臂式采摘机器人。每个臂采用直角坐标式结构,X轴采用双臂式结构,避免了因Y轴悬臂长而产生的变形和作业震动。X方向两个滑台以联轴器相连,保证两根X轴的同步运行。X、Y、Z这3个方向的滑台由3个步进电机驱动,以同步带为传动方式,实现3个方向的自由移动。控制系统以TMS320F2812为控制芯片,采用"S型曲线加减速",以最快的速度实现满足精度要求的定位。改用开环的控制系统,双臂式机械手对称布置同时进行作业。室内和田间试验结果表明:平均每小时采摘3 581次,效率比原来的机器人提高了83%,并且采摘准确,满足生产作业的要求。Based on the current high cost but low operating efficiency tea picking gantry robot, this paper designs a new tea picking robot with two arms. Each arm structure using Cartesian coordinates, of which X-axis has two arms,and operations to avoid the distortion due to the Y-axis cantilever vibrations generated long. X direction of the two slide connected to the coupling to ensure synchronous operation of two X-axis , the three directions are driven by three stepper motor, belt drive way to achieve freedom of movement in three directions, it uses TMS 320F2812 as its control chip, with the design of S-curve acceleration and deceleration , the robot can achieve the fastest speed to meet the accuracy re- quirements. Switch to open-loop control system, manipulator arms symmetrically arranged simultaneous operations. La- boratory and outdoor experiment results show that： the average hourly picking 3 581 times more efficient than the original robot improved by 83% , and picking accuracy to meet the requirements of the production operations.

关 键 词：茶叶 双臂式采摘机器人 步进电机 S型曲线加减速 

分 类 号：S225.95[农业科学—农业机械化工程]