苹果采摘机器人机械手及控制系统设计  

作　　者：孙旖彤 潘肖楠 张俊 李明明 雷达荣 

机构地区：[1]陇东学院,甘肃庆阳745000 [2]长庆油田分公司第十一采油厂,甘肃庆阳745000 [3]庆阳质量检验检测研究院,甘肃庆阳745000

出　　处：《科技创新与应用》2023年第22期107-111,116,共6页Technology Innovation and Application

基　　金：庆阳国家拟农业科技园区项目(QNKB9-10);陇东学院青年科技创新项目(XYZK2105)。

摘　　要：为提高苹果采摘效率,减轻果农的工作强度,节约生成成本,便于我国中小型果园的采摘工作,提出一种苹果采摘机械手的结构,进行相关的设计和计算。基于整体的设计方案,完成机械手指、手掌、手腕的结构设计选型,并对其结构进行相关的计算,完成控制系统硬件设计,包含单片机选用、电机的选用、单片机电路连接图、程序流程图等。最后进行仿真动画的设计,验证模型的正确性,为后续的工作奠定基础。In order to improve the efficiency of apple picking,reduce the work intensity of fruit farmers,save the generation cost,and facilitate the picking of small and medium-sized orchards in our country,the structure of an apple picking manipulator was put forward,and the related design and calculation were carried out.Based on the overall design scheme,the structure design and selection of mechanical fingers,palms and wrists are completed,and the related calculation of their structure is carried out,and the hardware design of the control system is completed.It includes the selection of single-chip microcomputer,the selection of motor,the circuit connection diagram of single-chip microcomputer,the program flow chart and so on.Finally,the simulation animation is designed to verify the correctness of the model and lay a foundation for the follow-up work.

关 键 词：采摘机器人 手指 手掌 手腕 控制系统 仿真设计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]