智能果蔬分拣机器人系统设计  

Design of a fruit and vegetable sorting robot intelligent system

作　　者：高旭东[1] 韩喜春[1] 张正苏[1] 张春艳[1] GAO Xudong HAN Xichun ZHANG Zhengsu ZHANG Chunyan(College of Electrical and Information Engineering, Heilongjiang Institute of Technology, Harbin 150050, China)

机构地区：[1]黑龙江工程学院电气与信息工程学院,黑龙江哈尔滨150050

出　　处：《交通科技与经济》2016年第6期61-64,74,共5页Technology & Economy in Areas of Communications

基　　金：黑龙江省教育厅科学技术研究项目(12541687)

摘　　要：农业机器人的广泛应用是农业机械化得以实现的必由之路与重要标志,也是我国跻身世界农业强国之列的基本前提。基于虚拟样机与3D打印技术,研究建立果蔬分拣机器人运动模型,设计一种多功能欠驱动末端执行器,可对条形和类球形果蔬实施有效抓取;采用运动仿真等相关软件对重要工作部件进行结构分析和优化,确定其最佳参数值;最后搭建试验平台进行验证,并对农业机器人的发展前景进行展望。The popularization of agricultural robots will be both the necessary way and the important symbol of agricultural mechanization,which is also the basic premise for our country to become one of agricultural powerful countries in the world.In this paper,the motion model of fruit and vegetable picking robot is built.A virtual prototype is used to combine with 3Dprinting technique to design a kind of under-actuated terminal executor,which can grab bar and spherical fruits and vegetables effectively.Some related simulation softwares are applied to analyzing and optimizing the important working parts,and the best parameter values are determined.In the end,a test platform is built to verify the design and to make the prospect.

关 键 词：果蔬分拣机器人 虚拟样机 3D打印 末端执行器 

分 类 号：U491[交通运输工程—交通运输规划与管理]