一种多机械手编码控制系统的果蔬采摘机器人设计  

Design of Picking Robot for Fruits and Vegetables Based on Encoding Control System for Multi Robot Manipulators

作　　者：李素云[1] 余长庚[1] 

机构地区：[1]贺州学院机械与电子工程学院,广西贺州542899

出　　处：《农机化研究》2016年第7期187-191,共5页Journal of Agricultural Mechanization Research

基　　金：广西高校科学技术研究项目(2013YB242)

摘　　要：为了提高果蔬的采摘效率,对果蔬采摘机器人进行了改进,设计了一种新的多机械手的编码控制采摘机器人。通过对机器人功能和结构的设计,使机器人具有了利用机器视觉技术的图像边缘提取来划分每个机械手的作业区间的功能,并可以利用编码器对每个机械手进行编码,从而完成多机械手的协同作业。对机器人的采摘作业性能进行了测试,首先利用机器视觉模块完成了苹果采摘区间的划分,并预设了每个机械手的采摘作业轨迹,利用编码器对预设轨迹进行了追踪。通过测试发现:机器人多机械手的实际追踪轨迹和预设轨迹的误差很小,满足设计需求,多机械手的协同采摘平均速度可以达到80个/min以上,具有高效的果蔬采摘性能。In order to improve the efficiency of picking fruits and vegetables,a new kind of robot with multi robot hand is designed,which is used to improve the picking efficiency of fruits and vegetables. Through the function and structure of robot,the design enables the robot extract the image edge ion based on machine vision technology to divide each manipulator the operating range of the function. And it can use the encoder to encode each manipulator,so as to complete the multi robot cooperative working industry. The robot 's picking performance were tested. First of all,the machine vision module apple picking interval of the partition,and the default of each manipulator picking operation trajectory,the coder for the preset trajectory tracking. Through the test found that multi robot manipulator of actual trajectory tracking and preset trajectory error is very small,meet the design requirements,multi robot cooperative picking average speed can reach more than 80 / min,with high fruit and vegetable picking performance.

关 键 词：多机械手 编码控制 采摘效率 轨迹追踪 协同作业 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S225[自动化与计算机技术—控制科学与工程]