气动软体采摘机械手设计及实验研究  

Design and experimental research of pneumatic soft picking manipulator

作　　者：李三平[1] 孙腾佳 袁龙强 吴立国[1,2] LI San-ping;SUN Teng-jia;YUAN Long-qiang;WU Li-guo(School of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China;Harbin Forestry Machinery Research Institute,State Forestry and Grassland Administration,Harbin 150086,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040 [2]国家林业和草原局哈尔滨林业机械研究所,黑龙江哈尔滨150086

出　　处：《工程设计学报》2022年第6期684-694,共11页Chinese Journal of Engineering Design

基　　金：中央级公益性科研院所基本科研业务费专项(CAFYBB2020MB010);中央高校基本科研业务费专项资金资助项目(2572014BB06)。

摘　　要：针对传统刚性采摘机械手适用范围小、环境适应性差及对果蔬损伤大等问题,设计了一种面向沙果采摘的刚柔耦合气动软体采摘机械手。根据沙果的结果特点以及采摘要求,确定了六指包裹式采摘形式。以龙丰果为例,建立了采摘机械手软体手指弯曲角度计算模型,确定了单指的弯曲角度;通过3种硅胶材料的拉伸对比实验,选定HY-E620型硅胶作为软体手指的材料;开展了多种结构对软体手指弯曲性能影响的ABAQUS有限元仿真分析,确定了较优的结构;利用实验测定了不同驱动气压条件下单根软体手指弯曲角度与输出力的对应关系,并在0.08 MPa驱动气压下对多种水果进行三指抓取实验,验证了软体手指结构的合理性。最后,试制了六指包裹式气动软体采摘机械手,并分别对沙果、苹果、梨和橘子等进行了采摘实验。结果表明:所设计的采摘机械手不仅对含3~6个果实的成串沙果的采摘成功率达到80%,还可采摘苹果、梨和橘子等类球形水果,具有一定的通用性,可为水果采摘机械手的设计与研究提供新思路。Aiming at the problems of traditional rigid picking manipulators, such as small scope of application, poor environmental adaptability and great damage to fruits and vegetables, a rigid-flexible coupling pneumatic soft picking manipulator for crabapple picking was designed. According to the characteristics and picking requirements of crabapple, the six-finger wrapped picking form was determined. Taking Longfeng fruit as an example, the bending angle calculation model for the soft finger of picking manipulator was established, and the bending angle of single finger was determined;the HY-E620 type silicone was selected as the material of soft fingers through the tensile contrast experiment of three kinds of silicone materials;the ABAQUS finite element simulation analysis of the influence of various structures on the bending performance of soft fingers was carried out, and the optimal structure was determined;the corresponding relationships between the bending angle and the output force of a single soft finger under different driving pressure conditions were measured by experiments, and the three-finger grasping experiment for various fruits under the driving pressure of0.08 MPa was carried out, which verified the rationality of the soft finger structure. Finally, a six-finger wrapped pneumatic soft picking manipulator was trial-produced, and the picking experiments were carried out on crabapple, apple, pear and orange. The results showed that the designed picking manipulator could not only pick clustering crabapples containing 3-6 fruits with a success rate of 80%,but also pick apples, pears, oranges and other spherical fruits, which had a certain versatility, and could provide a new idea for the design and research of fruit picking manipulator.

关 键 词：气动软体采摘机械手 沙果采摘 六指包裹式 抓取实验 有限元分析 

分 类 号：TH138[机械工程—机械制造及自动化]