面向无损采摘的腔室化气动柔性驱动器研制  

Development of Chamber-oriented Pneumatic Flexible Driver for Nondestructive Picking

作　　者：李健[1] 闫杰 黄美珍 王扬威 LI Jian;YAN Jie;HUANG Meizhen;WANG Yangwei(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China)

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040

出　　处：《森林工程》2022年第4期98-105,共8页Forest Engineering

基　　金：国家自然科学基金(51905084)。

摘　　要：为实现对易损果蔬的无损采摘及提高采摘效率,该研究在捕蝇草叶片的启发下,以硅胶作为本体材料,采用气体驱动,提出腔室化设计思路,设计并制作气动柔性驱动器。通过有限元仿真和实验验证方法探究驱动器的可行性和可靠性,验证驱动器在稳定抓取和无损采摘领域的应用,实现驱动器对于不同形状物体的稳定抓取和对草莓和花生柿子易损果蔬的采摘。研究表明,腔室化设计的气动柔性驱动器能够在0.3 kPa的气压激励和3 L/min的流速下,3 s内完成2个维度的弯曲变形,可以实现对目标物的包裹或者半包裹式抓取,能够完成对于不同形状大小的物体自适应抓取和对采摘目标的无损采摘。此研究表明研制的软体机械手和驱动器可以在一定程度上解放劳动力、提高生产效率以及保证果蔬品质。In order to realize the nondestructive picking of vulnerable fruits and vegetables and improve picking efficiency,inspired by the leaves of Venus flytrap,this study proposed the idea of chamber design with silica gel as the body material and gas driven,and designed and manufactured a pneumatic flexible diver.The feasibility and reliability of the driver were explored by finite element simulation and experimental verification method,and the application of the driver in the field of stable grabbing and nondestructive picking was verified.The driver can stably grasp objects of different shapes and pick vulnerable fruits and vegetables of strawberries,peanuts and persimmons.Research showed that:the flexible pneumatic driver of the chamber design can complete the bending deformation in two dimensions within 3 s under the air pressure excitation of 0.3 kPa and the flow rate of 3 L/min,and can realize the wrapping or semi wrapping grasping of the target.It can achieve adaptive grasping of objects of different shapes and sizes and nondestructive picking of targets.The results showed that the soft manipulator and driver can liberate labor force,improve production efficiency and guarantee fruit and vegetable quality to a certain extent.

关 键 词：无损采摘 腔室化设计 气体驱动 柔性驱动器 自适应抓取 

分 类 号：S225[农业科学—农业机械化工程] TP249[农业科学—农业工程]