柑桔采摘机器人末端执行器设计与试验  

Design and Experiment of End-effector of Citrus Picking Robot

作　　者：李亚丽[1] 曹中华 潘良 董继伟 杨长辉[2] 湛小梅[1] LI Yali;CAO Zhonghua;PAN Liang;DONG Jiwei;YANG Changhui;ZHAN Xiaomei(Chongqing Academy of Agricultural Sciences,Chongqing,401329,China;Chongqing University of Technology,Chongqing,401320,China)

机构地区：[1]重庆市农业科学院,重庆401329 [2]重庆理工大学,重庆401320

出　　处：《中国南方果树》2024年第1期216-223,共8页South China Fruits

基　　金：重庆市技术创新与应用发展专项重点项目柑桔3D视觉采摘机器人研发与应用(cstc2020jscx-gksbX0004);重庆市科研机构绩效激励引导专项柑桔采摘机器人柔性末端执行器研究与仿真(cstc2020jxj180007)资助。

摘　　要：针对现有柑桔采摘机器人末端执行器单果采摘时间长、采摘成功率低等问题,以20SiMnMoV合金结构钢为材料,设计制作了一款柑桔采摘末端执行器。该末端执行器主要由抓取机构、剪切机构、连接架及控制系统等部分组成,通过控制系统,抓取机构可以实现柑桔无损抓取,剪切机构可将果梗与柑桔快速分离。应用CATIA软件建立末端执行器的三维模型,借助UG与ABAQUS软件对其进行模态分析与静强度分析,得到末端执行器在采摘柑桔过程中不会发生共振,最大变形量为0.077 mm,最大应力为853.1 Mpa、小于材料屈服强度。在脐橙园田间采摘试验结果表明,在采摘机器人机械臂姿态的采摘角度为45°,切割刀刃角度为45°,空压机气压为6 kPa时,采摘成功率最高,单果采摘时间接近最小。该柑桔采摘机器人末端执行器采摘速度高,控制难度低,与机械臂集成度高。In view of the problems of long single-fruit picking time and low picking success rate of the existing in current citrus fruit picking end-effector,a citrus fruit picking end-effector was designed,which is mainly composed of flexible grasping mechanism,cutting mechanism,connecting frame and control system.Through the control system,the grasping mechanism can realize the non-destructive grasping of fruit,and the cutting mechanism can quickly separate fruit from fruit stalk.The three-dimensional model of the end-effector was established by CATIA software.The modal analysis and static strength analysis of this model were carried out by UG and ABAQUS software.The results show that this end-effector would not resonate in the process of picking fruits.The maximum deformation was 0.077 mm,and the maximum stress was 853.1 MPa,which was less than the yield strength of the material.The results of field picking experiments show that the minimum single fruit picking time and the highest picking success rate were achieved when the picking angle of the robot arm was 45°,the cutting edge angle was 45°,and the air pressure of the air compressor was 6 kpa.This end-effector of the citrus fruit picking robot has high picking speed,low control difficulty and high integration with the manipulator.This study can provide a reference for the overall research and development of the citrus fruit picking robot.

关 键 词：末端执行器 动力学分析 模态分析 静强度分析 柑桔采摘 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S225[自动化与计算机技术—控制科学与工程]