基于数控轻量化的采摘机器控制系统研究  

Research on Picking Machine Control System Based on Numerical Control Lightweight

作　　者：康占武 张志成 Kang Zhanwu;Zhang Zhicheng(Hebei Institute of Mechanical and Electrical Engineering Technicial,Zhangjiakou 075000,China)

机构地区：[1]河北省机电工程技师学院,河北张家口075000

出　　处：《农机化研究》2022年第11期119-122,130,共5页Journal of Agricultural Mechanization Research

基　　金：河北省科技厅科技项目(20191250)。

摘　　要：以采摘机器人为研究对象,在分析采摘机器人结构的基础上,对采摘作业过程进行分析,设计采摘机器人控制系统。采摘试验结果表明:在作业过程中,采摘机器人能够适应不同采摘环境,并根据采摘对象外观形状的变化调整采摘夹持力,有效避免了采摘过程出现果实损伤现象;控制系统能够根据采摘对象位置的变化,不断地进行机器人末端执行器姿态调整,确保采摘过程位置精准度大于99.5%。Based on the analysis of the structure of picking robot,this paper analyzes the picking process and designs the control system of picking robot.The results of picking experiment show that the robot can adapt to different picking environment,and adjust the picking clamping force according to the change of picking object's appearance shape,which can effectively avoid fruit damage in the process of picking.The control system can adjust the posture of the end effector of the robot continuously according to the change of the position of the picking object,so as to ensure the position accuracy of the picking process is more than 99.5%.

关 键 词：采摘机器人 控制系统 末端执行器 夹持力 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]