褐菇无损采摘柔性手爪设计与试验  

Design and Experiment of Flexible Gripper for Mushroom Non-destructive Picking

作　　者：卢伟[1,2] 王鹏 王玲 DENG Yiming[3] LU Wei;WANG Peng;WANG Ling;DENG Yiming(College of Engineering,Nanjing Agricultural University,Nanjing 210031,China;Jiangsu Province Engineering Laboratory of Modern Facility Agriculture Technology and Equipment,Nanjing 210031,China;College of Engineering,Michigan State University,East Lansing,MI 48824,USA)

机构地区：[1]南京农业大学工学院,南京210031 [2]江苏省现代设施农业技术与装备工程实验室,南京210031 [3]密歇根州立大学工学院,东兰辛MI48824

出　　处：《农业机械学报》2020年第11期28-36,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金青年基金项目(51405239);江苏省自然科学基金面上项目(BK20181315);江苏省农机三新工程项目(SZ120170036);Asia Hub NAUMSU联合研究项目(2017-AH-11);扬州市重点研发计划项目(现代农业)(YZ2018038)。

摘　　要：针对娇嫩褐菇自动化无损采摘易损的问题,首先分析了褐菇的生物学特性和力学特性,分别给出拔断和扭断采摘方式抓持力的约束方程,并优选出扭断式采摘方法;通过ANSYS对柔性手指夹持褐菇进行静力学分析,给出柔性手指指节数、褐菇直径及气压与抓持力之间的函数关系,建立评价函数,通过遗传算法优选出3指4指节的柔性手爪结构,以及18.65 kPa的最优抓持控制气压;基于此设计3指4指节的柔性手爪,并进行褐菇采摘试验,结果表明,与刚性手爪相比,柔性手爪抓持力减小,为(2.4±0.3)N;刚性手爪采摘褐菇的抓握处切面5 mm深度内均有损伤,且表面抓痕明显,而柔性手爪抓握处表面和内部均完好无损。说明所设计的3指4指节柔性手爪适于褐菇的自动化无损采摘。For the automatic and non-destructive picking of the delicate and fragile brown mushroom,the biological and mechanical characteristics of the brown mushroom were firstly analyzed,the constraint equations of grasping force at pulling-off and twisting-off modes were given,and then the twisting-off picking mode was selected as an optimal method.Secondly,by using ANSYS,a finite element analysis software,the static analysis of the flexible finger grasping mushroom was carried out to give the relationships between the grasp force and the flexible finger knots,the diameter of brown mushroom,air pressure.The genetic algorithm was used based on the established evaluation function to obtain the optimal structure of the flexible gripper with three fingers and four knuckles,and the optimal air pressure of 18.65 kPa for grasping.A flexible gripper with three fingers and four knuckles was developed based on the above study.And the brown mushroom picking experiment was carried out,and the results showed that the successful grasping force was reduced to(2.4±0.3)N compared with that of the rigid gripper with(5.6±0.7)N.Moreover,the surface and interior of the grasped mushroom by the developed flexible gripper were intact,while the surface and interior within 5 mm depth of the grasped mushroom were damaged by using a rigid gripper.The research result showed that the designed flexible gripper with three fingers and four knuckles was feasible for brown mushroom picking automatically and non-destructively.

关 键 词：褐菇 无损采摘 柔性手爪 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]