基于番茄果实特性的柔性抓手设计  

Design of Flexible Claw Based on Tomato Fruit Characteristics

作　　者：吕霞[1,2] LYU Xia(Liaoning Institute of Agricultural Mechanization,Shenyang 110161,China;Key Laboratory of Remanufacture and Innovation of Agricultural Machinery and Equipment in Liaoning Province,Shenyang 110161,China)

机构地区：[1]辽宁省农业机械化研究所,沈阳110161 [2]辽宁省农业机械装备再制造创新重点实验室,沈阳110161

出　　处：《农业科技与装备》2024年第1期41-43,共3页Agricultural Science & Technology and Equipment

基　　金：辽宁省农业科学院学科建设计划项目(2022DD289549)。

摘　　要：提出一种基于番茄果实特性的柔性抓手设计,以期解决传统刚性抓手在处理番茄等脆弱果实时容易引起损伤的问题。首先,对番茄果实的特性进行详细分析,包括柔软性、易碎性及变形性;接着,提出一种基于柔性材料和传感器的抓手设计方案,该抓手采用柔性材料制成,具有较高的可变形性和适应性,可根据番茄果实的形状和大小进行调整,同时在抓手的关键部位嵌入传感器,以用于实时监测果实的变形情况;最后进行一系列试验来验证该柔性抓手设计的性能。试验结果表明,该抓手能够有效地抓取和操纵番茄果实,并且在抓取过程中能够减轻果实的损伤程度。A flexible claw design based on tomato fruit characteristics is proposed to solve the problem that the traditional rigid claw is easy to cause damage when dealing with tomatoes and other fragile fruits.Firstly,the characteristics of tomato fruit were analyzed in detail,including softness,fragility and deformation;Then,a claw design scheme based on flexible materials and sensors is proposed.The claw is made of flexible materials and has high deformability and adaptability.It can be adjusted according to the shape and size of the tomato fruit;Finally,a series of experiments are carried out to verify the performance of the flexible claw design.The experimental results show that the claw can grasp and manipulate the tomato fruit effectively,and reduce the damage degree of the fruit during the grasping process.

关 键 词：柔性抓手 番茄果实 设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]