三爪联动式油茶花采摘执行末端设计研究  

Study on the design of three-claw linkage type camellia flower picking execution terminal

作　　者：吴泽超 赵青[1] 李立君[1] 郭鑫 李骏 WU Zechao;ZHAO Qing;LI Lijun;GUO Xin;LI Jun(School of Mechanical and Electrical Engineering,Central South University of Forestry and Technology,Changsha 410004,Hunan,China)

机构地区：[1]中南林业科技大学机电工程学院,湖南长沙410004

出　　处：《中国工程机械学报》2022年第1期69-74,80,共7页Chinese Journal of Construction Machinery

基　　金：湖南省教育厅科学研究项目(19B596);湖南省农业农村厅项目(2020-45)。

摘　　要：针对油茶花花粉采集难度大、效率低、劳动强度高等问题,设计了一种智能采摘机械手末端执行装置。该装置具有结构简单、动作灵活、质量轻便、可靠性强的三指单节联动机械手爪。该采摘机械手爪利用连杆运动原理与电动推杆驱动相结合方式,以实现手爪的精准抓取与收集。采用对三指单节联动机械手爪的连杆机构静力学分析,得到手爪夹紧力的变化与同步环位移变化呈线性关系,并通过Inventor软件建模与ADAMS软件运动仿真得到验证,同时验证了所设计的机械手爪的运动可行性。研究结果可为采用机械手采摘油茶花花朵的试验方案提供了理论支持,同时为采摘机器人的研究与试验提供了重要的数据参考。Aiming at the difficulty in collecting pollen of camellia,low efficiency and high labor intensity,an intelligent picking manipulator end effector was designed.The device has a simple structure,flexible action,light weight,and reliable three-finger single-joint linkage manipulator claw.The picking manipulator claw utilizes the linkage movement principle and the electric push rod drive to combine to realize the precise grasping and collection of the claw.In this paper,the static analysis of the linkage mechanism of the three-finger single-link manipulator gripper is used to obtain a linear relationship between the gripping force change of the gripper and the displacement change of the synchronizer ring,which is verified by Inventor software modeling and ADAMS software motion simulation.The movement feasibility of the designed manipulator claw is improved.It provides theoretical support for the experimental program of picking camellia flowers using a manipulator,and provides an important data reference for the research and experiment of picking robots.

关 键 词：连杆机构 油茶花 采摘机器人 机械手爪 ADAMS 

分 类 号：S225.93[农业科学—农业机械化工程]