面向薄皮果类抓取的柔性手前瞻力控方法  

A flexible hand forward-looking force control method for complaisant grasping of thin-skin fruits

作　　者：陈宵燕 孙沂琳 赵一 张秋菊 何庆浩 CHEN Xiaoyan;SUN Yiin;ZHAO Yi;ZHANG Qiuju;HE Qinghao(School of Automation,Wuxi University,Wuxi214105,China;Jiangsu Key Laboratory of Advanced Food ManufacturingEquipment&Technology,Wuxi214122,China;Innovation and R&D Center,Jiangsu JITRI Composite Equipment ResearchInstitute Co.,Ltd.,Wuxi214174,China)

机构地区：[1]无锡学院自动化学院,江苏无锡214105 [2]江苏省食品先进制造装备与技术重点实验室,江苏无锡214122 [3]江苏集萃复合材料装备研究所有限公司创新研发中心,江苏无锡214174

出　　处：《包装与食品机械》2024年第1期53-59,共7页Packaging and Food Machinery

基　　金：国家自然科学基金项目(51575236);江苏省自然科学基金项目(BK20230173);江苏省高等学校基础科学项目(23KJB460031);江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-202304);无锡市创新创业资金“太湖之光”科技攻关计划项目(K20231009)。

摘　　要：针对当前机器人手存在的抓取力控性能差、控制系统复杂等问题,基于柔性手结构性能优势,提出一种面向薄皮果类柔顺抓取的前瞻预测智能力控方法。以最佳位形和力闭合为约束条件,提出适用于柔性手结构配置的4种抓取规划方法,并建立抓取稳定性评估机制。构建基于径向基神经网络的非线性回归预测模型,并重点提出基于最小抓取力的前瞻智能力控算法。分析抓取系统结构,设计分层模块化柔性手控制系统,最终搭建柔性手抓取实验平台,进行抓取性能测试。试验结果表明,相对其他2种方法,提出的抓取力控方法抓取力分别降低10.64%和6.91%;抓取成功率分别提高2.67%和5.00%,平均值高达98.00%。研究为柔性手的进一步研究提供参考。For the current problems of poor grasping force control performance and complex control systems in robot hands,a forward-looking predictive intelligent force control method for complaisant grasping of thin-skinned fruits based on the structural performance advantages of flexible hands was proposed.Four grasping planning methods suitable for flexible hand structure configuration were proposed with the optimal configuration and force closure as constraints,and grasping stability evaluation mechanism was established.The nonlinear regression prediction model based on radial basis function neural network was constructed,and the prospective intelligent force control algorithm based on minimum grasping force was put forward emphatically.The structure of the grasping system was analyzed,a layered modular flexible hand control system was designed,and finally a flexible hand grasping experimental platform was built to conduct grasping performance testing.The experimental results show that our proposed method reduces the grasping force by 10.64%and 6.91%compared to the other two methods,respectively.At the same time,the success rate of grasping is increased by 2.67%and 5.00%,respectively,with an average success rate of 98.00%.The study provides a reference for further research on flexible hands.

关 键 词：抓取规划 柔性手 稳定性评估 前瞻 最小抓取力 

分 类 号：TH165.1[机械工程—机械制造及自动化] TB486.3[一般工业技术—包装工程]