绳驱柔性机械手研究进展及其在农业机器人中的应用  

Research progress of cable-driven flexible manipulator and its application in agricultural robots

作　　者：韦慧玲 梁成斌 王金海 陈明猷 罗陆锋 WEI Huiling;LIANG Chengbin;WANG Jinhai;CHEN Mingyou;LUO Lufeng(School of Mechatronics Engineering and Automation,Foshan University,Foshan 528000,China;School of Computer Science and Artificial Intelligence,Foshan University,Foshan 528000,China)

机构地区：[1]佛山大学机电工程与自动化学院,广东佛山528000 [2]佛山大学计算机与人工智能学院,广东佛山528000

出　　处：《智能化农业装备学报（中英文）》2024年第4期95-106,共12页Journal of Intelligent Agricultural Mechanization

基　　金：国家自然科学基金资助项目(52205254、32171909、32301704);广东省基础与应用基础研究基金(2020B1515120070)。

摘　　要：绳牵引并联机器人具有结构简单、运动惯性小、可重构、响应速度快等特点,成为近年来机器人领域研究的热点。而绳驱柔性机械手由于其驱动绳索的柔弹性为任务操作提供了一定的适应性和柔顺性,能够实现作业对象与机械手良好的动态交互,提高防破损耦合的能力,引起了农业机器人领域科研人员的广泛关注。由于农业采摘机器人的作业环境具有非结构化、不确定的特点,而大多数的果实外表皮脆弱易损,因此对直接与果实接触的采摘机械手要求更严格,既要满足稳定抓持又不能损伤果实。为实现采摘机器人高效精准作业,与生物友好交互的轻量化柔性末端执行机构是急需重点突破的关键理论技术之一。首先,阐述了具有商业应用前景的绳驱柔性机械手的特点及发展概况;然后,详细综述了国内外研究人员对绳驱柔性机械手的设计、建模和控制等理论的研究进展,进一步概述了绳驱柔性机械手在肢体康复和灵巧操作领域的应用开发,详细分析绳驱柔性机械手在农业采摘领域应用的意义,并对绳驱柔性机械手在番茄、苹果、草莓和黑莓采摘的研究现状进行分析;最后,针对现阶段绳驱柔性机械手在农业采摘存在的采摘准确度不高、通用性差和成本高、造成损伤、采摘效率低下等问题,指出今后绳驱柔性机械手商业化应用亟须在农机农艺协同、模块化与可重构设计、提高交互安全性、多传感器融合、采摘序列规划与强鲁棒控制等方面开拓创新,为果蔬机械化无损采摘机构的设计提供新的思路和方法。Cable-driven parallel robots have become a hot research topic in the field of robotics in recent years due to the characteristics of simple structure,small motion inertia,reconfigurability,and fast response speed,etc.The cable-driven flexible manipulator provides a certain adaptability and softness for operation due to the flexibility and elasticity of driving cable,and consequently it can achieve good dynamic interaction between the operating objects and the manipulators,and improve the ability to prevent broken loss coupling,which has also attracted widespread attention from researchers in the field of agricultural robotics.Due to the working environment of agricultural picking robots has the characteristics of unstructured and uncertainty,and most of the fruit outer skin is fragile and easy to damage,the requirements for picking robots that come into directly contacted with the fruits are stricter,ensuring stable grasping without damaging the fruits.In order to achieve efficient and precise operations of picking robots,lightweight and flexible end execution agencies that interact with biological friendly interaction are key theoretical technologies that urgently need to be broken through.This article first elaborates on the characteristics and development overview of cable-driven flexible manipulators with commercial application prospects.Then,the research progress of the theory such as the design,modeling and control of cable-driven flexible robotics at home and abroad is reviewed in detail.Further the typical application development of cable-driven flexible robots in the field of physical rehabilitation and dexterous grabbing is outlined.A detailed analysis is conducted on the significance of the application of cable-driven flexible manipulators in the field of agricultural picking,and the current research status of cable-driven flexible manipulators in tomato picking,apple picking,strawberry picking,and blackberry picking.Aiming at the problems of low picking accuracy,poor versatility,high cost,damage and l

关 键 词：绳驱柔性机械手 农业机器人 采摘 番茄 苹果 草莓 黑莓 

分 类 号：S24[农业科学—农业电气化与自动化]