嫁接苗移栽机械手末端执行器的优化设计  

Optimization design on end effector of grafted seedlings transplanting robot

作　　者：夏春风[1,2] 曹其新[2] 杨扬[2] 

机构地区：[1]苏州农业职业技术学院,江苏苏州215008 [2]上海交通大学机器人研究所,上海市200240

出　　处：《中国农机化学报》2016年第9期37-42,共6页Journal of Chinese Agricultural Mechanization

基　　金：国家高技术研究发展计划(2012AA10A506)

摘　　要：针对断根嫁接苗手工移栽劳动强度大、效率低和作业质量难以保证等缺陷,设计嫁接苗移栽机械手末端执行器。根据嫁接苗移栽要求,采用SolidWorks软件,先建立末端执行器三维模型,然后对末端执行器的连接杆和拨土机构等重要部件进行力学分析并优化,最后将末端执行器加工成实物,并与气爪、连接盘和UR5机器人等进行装配、编程后放入移栽装置中试验。移栽试验表明:末端执行器伸入340×500mm嫁接机方框深度达210mm;在移栽速度为700株/h时,移栽成功率平均达96.67%;试验中末端执行器工作平稳,能满足移栽作业要求。It was designed the end effector for grafted transplanting robot to improve the efficiency and reduce the labor intensity for root-broken grafted seedlings.According to the transplanting requirements of grafted seedlings,it was created a three-dimensional model of the end effector using SolidWorks software at first.Then it did the mechanical analysis on and optimization for the important parts of the end effector,such as the connecting rod,the scarification structure and so on.At the end,the end effector was manufactured according to the optimized drawings,assembled together with gripper,connecting-disk,UR5 robot and others.The end effector was programmed and tested into the transplanting device.Transplanting tests showed that the end effector can work smoothly with its delicate structure and stretch into grafting box of 340×500mm at the depth of 210 mm.When the end effector works at transplanting speed of 700strain/h,the average success rate is 96.67%that can meet operational requirements.

关 键 词：移栽机械手 末端执行器 力学分析 优化设计 嫁接苗 

分 类 号：S232[农业科学—农业机械化工程]