一种椰子抓取采摘机械手设计及其工作空间仿真分析  

Design of the Manipalator for Picking Coconut and Simulation of its Work Space

作　　者：杨永[1] 曾祥坤[1] 

机构地区：[1]广东技术师范学院机电学院,广州510635

出　　处：《农机化研究》2015年第5期132-135,共4页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(51305085)

摘　　要：针对两种目前常用于椰子采摘的采摘方法—人工攀爬采摘和采摘机刀具切割采摘出现的劳动强度大、作业危险及效率低等问题设计了一种抓取采摘机械手。采摘机械手底座固定在椰子采摘机上,通过旋转功能组件实现采摘手抓的左右摆动,依靠气压升降、摆臂功能组件实现采摘手抓的升降和俯仰,利用机械手外手抓抓住果蒂,内手抓抓住椰子旋转采摘。为此,介绍了采摘机械手总体结构设计及工作原理,对其关键结构进行了建模,并进行了工作空间仿真分析。仿真结果表明:所设计的椰子采摘机械手工作点分布密集对称,满足工况需求,为进一步实际采摘实验提供了理论支撑。Aimed at problems such as labor-intensive , operating hazards , low efficiency which appear on currently two methods used commonly in coconut picking-manpower climbing picking and picking machine tool cutting picking , de-signed a robot arm to crawl picking .The pedestal of robot arm is fixed on the coconut picker ,by rotating functional com-ponents to achieve picking hands＆#39;s swing , relying on pneumatic lift and arm grasping picking functional components to a-chieve lift and pitch , using the robot arm ’ s outer hand claw to catch the base of fruit , and using the internal hand to catch the coconut for rotating picking .The article firstly describes the picking robot hand＆#39;s overall structure designing and working principle ,then its key structures are established into a model , finally conducts a simulation analysis to its work space .Simulation results show that coconut picking manipulator operating point designed by the paper is densely distribu -ted symmetrically ,and meets the needs of working conditions , and provides theoretical support for the further actual pick-ing experiments .

关 键 词：椰子 采摘机械手 抓取采摘 工作空间 仿真 

分 类 号：S225.93[农业科学—农业机械化工程]