夹剪一体的荔枝采摘末端执行器设计与性能试验  

Design and Testing of Litchi Picking End-effector Integrated Clamping and Cutting Performance

作　　者：陈燕[1] 蒋志林[1] 李嘉威[1] 王佳盛 刘威威[1] 邹湘军[1] 

机构地区：[1]华南农业大学工程学院,广州510642

出　　处：《农业机械学报》2018年第1期35-41,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(31571568);广东省科技计划项目(2014A020208091;2015A020209120;2015A020209111)

摘　　要：针对荔枝串果低损高效的机械化采摘,设计了具有单动力源驱动、夹剪一体的荔枝采摘机器人末端执行器,构建了剪切力学模型和稳定夹持力学模型,分析了夹持模块的力封闭性,推导了稳定夹持的三点接触正压力计算模型,设计了末端执行器的物理样机,并对其进行了采摘、负重和抗遮挡干扰工作性能试验。试验结果表明:末端执行器具有良好的夹持负重能力,串果母枝直径分别为3 mm和7 mm时,动态最大负重质量分别为1.33 kg和3.01 kg;采摘时能快速剪切母枝并稳定夹持串果,平均夹剪时间为2 s,串果母枝直径5 mm以下采摘成功率均为100%,串果母枝直径6~7 mm采摘平均成功率为70%;具有中等抗遮挡干扰采摘能力。Aiming at mechanized picking of litchi fruits with low damage and high efficiency,an endeffector integrated clamping and cutting of litchi picking robot with single power source drive was designed firstly. Secondly,the cutting mechanical model and the stabilized clamping mechanical model of the litchi serial fruit mother branch were constructed. Thirdly,the force sealing of clamping module was analyzed,on this basis,the normal pressure computation model of stabilized clamping with three points contact was derived. At last,the physical prototype of end-effector was manufactured and the work performance tests were executed. The performance tests included picking test, load test and antiocclusion interference test. The experiment results indicated that the litchi picking end-effector well preformed in weight clamping with maximum dynamic weights of 1. 33 kg and 3. 01 kg when the diameters of fruit mother branches were 3 mm and 7 mm,respectively. What＇s more,the litchi fruit was stably clamped and the branch was cut quickly when picking with average time of clamping and cutting of 2 s.The success rate was 100% when the diameters of the fruit mother branches were lower than 5 mm. The average success rate was 70% when the diameters of the fruit mother branches were between 6 mm and7 mm. Besides,the end-effector had medium picking ability of anti-occlusion interference.

关 键 词：荔枝串果 采摘 末端执行器 夹剪一体 力学模型 性能试验 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] S667.1[自动化与计算机技术—控制科学与工程]