基于FPA控制系统的多指多关节采摘机械手设计  

Design for Multi-fingered Picking Manipulator Based on FPA Control System

作　　者：申一歌[1] 袁铸[1] 

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2017年第5期249-252,258,共5页Journal of Agricultural Mechanization Research

基　　金：河南省自然科学基金项目(2015GZC155);南阳市科技攻关(KJGG36)

摘　　要：针对传统机械手爪存在抓持动作单一、自由度少及通用性较差等缺点,设计了一种新型的由FPA直接驱动的多指多关节采摘机械手,有效地提高了机械手的灵活性和对不同果实采摘的自适应能力。从静力学的角度,建立了弯曲关节的转角及输出力的静态模型,并利用多目标优化方法对各个关键受力的均匀性进行了优化设计,分析了三自由度手指的输出力特性。最后,通过实验方法建立了机械手的苹果抓持实验,分析了气压值与抓持能力之间的关系。实验结果表明:随着待采摘果实目标半径的增大,机械手抓取关节角度有所减小,机械手抓取关节手指内腔的压力有所降低,为新型采摘机械手的研究提供了理论借鉴和技术参考。In view of the traditional mechanical gripper are holding a single action, less degrees of freedom and general poor shortcomings, a model driven directly by the FPA of multi finger articulated picking manipulator is designed, so as to effectively improve the flexibility of the mechanical hand movements and of different fruit picking the adaptive ability. From the static point of view, the establishment of a joint bending angle and the output force of the static model, and the multi-objective optimization method was proposed to the optimization design of the uniformity of the force on each key, and output force characteristics of three degree of freedom finger was analyzed. The experimental method to establish the manipulator for Apple grasping experiments, experimental results of pressure value and the grasping ability between. The results show that with be picking fruit target radius increases, the manipulator joint angle decreases, manipulator finger joint cavity pressure decreases, is a new type of picking manipulator research provides a theoretical and technical reference for reference.

关 键 词：多指机械手 多目标优化 FPA驱动 抓持能力 自由度 

分 类 号：S225[农业科学—农业机械化工程] TP273[农业科学—农业工程]