果蔬采摘欠驱动灵巧机械手的设计  

Design of Underactuated Flexible Robotic Hand for Picking Fruit and Vegetable

作　　者：杨婕[1] 赵晓栋[1,2] 宋申祥 张兆德[1,2] 

机构地区：[1]浙江海洋学院船舶与海洋工程学院,浙江舟山316022 [2]浙江省近海海洋工程技术重点实验室,浙江舟山316022

出　　处：《机械工程师》2015年第5期93-95,共3页Mechanical Engineer

基　　金：浙江省自然科学基金(Q14D060002);海洋工程国家重点实验室(上海交通大学)开放课题项目(1406)

摘　　要：欠驱动机构是指驱动器数目少于机构本身自由度数目的机构。为了实现果蔬的无损采摘,通过理论分析、指端结构设计、传动机构设计和驱动机构设计与建模仿真,设计出一种灵活性高、结构简单的果蔬采摘欠驱动灵巧机械手。该机械手抓取物体时具有形状自适应能力,可完全包络物体实现无损采摘,且体积小、成本低,能够适应农业采摘自动化技术的推广。Underactuated mechanism is a system whose number of control inputs is smaller than the number of degree of freedom. In order to realize non-destructive picking of fruits and vegetables,a flexible and underactuated robotic hand with simple structure was designed through theoretical analysis,design of finger tip,transmission and drive mechanism,and modeling and simulation. It has shape-adaptability while grasping objects,which can be completely surrounded to realize non-destructive picking. With small size and low cost,it is adaptable to application in automatic picking in agriculture field.

关 键 词：果蔬采摘 无损采摘 欠驱动 机械手 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]