番茄采摘机器人模块化设计与分析  

Modular design and analysis of tomato harvesting robot

作　　者：杨乐平 王加泽 朱宣任 张健滔[1] 何斌[1] 刘士辉 黄允 翟彬梁 YANG Leping;WANG Jiaze;ZHU Xuanren;ZHANG Jiantao;HE Bin;LIU Shihui;HUANG Yun;ZHAI Binliang(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China;Shanghai Sunqiao Modern Agriculture Joint Development Co.,Ltd.,Shanghai 201210,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]上海孙桥现代农业联合发展有限公司,上海201210

出　　处：《中国科技论文》2023年第2期215-223,共9页China Sciencepaper

基　　金：上海市科技支撑项目(18391900900);国家自然科学基金资助项目(52175102)。

摘　　要：针对蔬菜大棚中的番茄生长周期短、产量大,在成熟期需要大量人力来采摘的问题,设计了一款番茄采摘机器人系统,包括多自由度机器人、视觉识别系统、运动控制系统、柔性末端执行器等。机器人通过深度相机和识别算法完成番茄的识别定位,并实时反馈给控制模块,基于ROS实现机器人的运动规划,配合柔性末端执行器实现番茄的采摘。对机器人关键部件进行了有限元分析,获得了部件的应力分布,校验了其安全可靠性。建立了采摘机器人运动学方程,并利用MATLAB进行了仿真分析,求解出采摘机器人的工作空间。基于ADAMS建立了采摘机器人动力学仿真模型,通过仿真求解出各关节所需力矩。制作了番茄采摘机器人样机,在实验室环境下进行了采摘试验,验证了采摘机器人系统设计的有效性。Tomatoes in vegetable greenhouses have a short growth cycle and a large yield,which requires a lot of manpower to harvest them at the mature stage.To solve this problem,a tomato harvesting robot system was designed,which includes multi-freedom robot,visual recognition system,motion controller,flexible end-effector,etc.Through the depth camera and the recognition algorithm,the robot completed the identification and positioning of the tomatoes,which were fed back to the control module in real time.The robot’s motion planning was realized based on ROS,and tomato harvesting was accomplished by using the flexible end-effector.The key components of the robot were analyzed by using the finite element method.The stress distribution diagram of the components was obtained,and its safety and reliability were verified.The kinematics equation of the harvesting robot was established,and the working space of the harvesting robot was solved by simulation analysis with MATLAB.The dynamics simulation model of harvesting robot was established based on ADAMS,and the required torque of each joint was solved by simulation.A tomato harvesting robot prototype was made,and the harvesting test was carried out in the laboratory environment.The test results verified the effectiveness of the design of the robot system.

关 键 词：番茄采摘机器人 模块关节 运动学分析 动力学分析 有限元分析 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]