光固化果蔬采摘气动软体抓手设计与试验  

Design and Experiment of Pneumatic Soft Claw for SLA Fruit andVegetable Picking

作　　者：庄煜 王海涛 王金峰[1] 沈柳杨[1] 王震涛 ZHUANG Yu;WANG Haitao;WANG Jinfeng;SHEN Liuyang;WANG Zhentao(College of Engineering,Northeast Agricultural University,Harbin 150030,China)

机构地区：[1]东北农业大学工程学院,哈尔滨150030

出　　处：《农业机械学报》2023年第9期65-73,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2021YFD200060502);黑龙江省博士后科学基金项目(LBH-Z22078)。

摘　　要：针对目前软体抓手的制造方式(如软体平板印刷、失蜡铸造等)存在成型工艺复杂、粘结不牢靠、接缝处易撕裂等问题,设计了一种光固化成型软体采摘抓手一体式结构,通过正、负压驱动,可实现果蔬的自适应抓取。首先,基于Yeoh模型,研究了软体驱动器弯曲变形运动中的非线性力学特性,得出腔体内部压强与驱动器弯曲角度之间的非线性关系模型。然后,通过Abaqus有限元软件分析软体驱动器的弯曲特性,得到各主要结构参数对弯曲角度的影响规律,并结合正交试验法得到最佳的结构参数组合:软体驱动器的腔体壁厚为1.6 mm、腔体个数7、腔体间隙3 mm、底层厚度3 mm。最后,根据最佳的结构参数组合制造软体采摘抓手样机,并将其安装在试验平台上进行果蔬抓取试验,验证了光固化一体成型软体采摘抓手的实用性。In view of the problems in the current manufacturing methods of soft claws(such as soft offset printing,lost wax casting,etc.),such as complex forming process,unstable adhesion,easy tearing and so on.Stereo lithography apparatus(SLA)soft picking claw integrated structure was designed,which could realize the adaptive grasping of fruits and vegetables by positive and negative pressure drive.Firstly,based on the Yeoh model,the nonlinear mechanical properties of the bending deformation motion of the soft finger were studied,and the nonlinear relationship model between the internal pressure of the cavity and the bending angle of the finger was obtained.Then,the bending characteristics of the soft finger were analyzed by using Abaqus finite element software,and the influence law of the main structural parameters on the bending angle was obtained.And combined with the orthogonal experimental method,the optimum combination of the structural parameters was obtained as follows:the cavity height of the soft drive was 11 mm,the channel height was 4 mm,the cavity wall thickness was 1.6 mm,the number of cavities was 7,the cavity spacing was 3 mm,and the thickness of the bottom layer was 3 mm.Finally,based on the optimal combination of structural parameters,a prototype of the soft picking claw was fabricated and installed on a test platform for fruit and vegetable grasping experiments,which verified the practicality of the SLA soft picking claw.

关 键 词：光固化 果蔬采摘 软体抓手 有限元仿真 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]