番茄采摘机器人的设计优化与控制研究  

The Research of Design Optimization and Control for Tomato Picking Robot

作　　者：卿笛 QING Di(Electromechanical Engineering Institute,Yangling College of Profession and Technology,Xianyang 712100,China)

机构地区：[1]杨凌职业技术学院机电工程分院,陕西咸阳712100

出　　处：《液压气动与密封》2024年第12期85-90,共6页Hydraulics Pneumatics & Seals

基　　金：杨凌职业技术学院2021年院内基金项目(ZK21-50)。

摘　　要：为提高果实自动采摘的效率,深入践行科技强农、智慧农业理念,以番茄采摘为例,根据番茄果实采摘流程功能需求与人体手臂结构特征,设计二轴采摘机械臂,并利用ANSYS Workbench软件对其进行结构优化。末端执行器设计为柔性气压驱动的机械手,在RobotStudio中对机械手进行建构,并对其运动姿态进行仿真设置,最后对番茄采摘机器人视觉系统的关键部件相机进行设置与程序控制,构建完成了一套自动识别番茄采摘机械手控制系统。In order to improve the efficiency of automatic fruit picking,deeply implement the concept of technology strengthening agriculture and smart agriculture,taking tomato picking as an example,a two axis harvesting robotic arm is designed according to the functional requirements of tomato fruit picking process and the structural characteristics of human arms,using ANSYS Workbench software to optimize its structure.The end effector is designed as a flexible pneumatic driven robotic arm,building a robotic arm and simulating its motion posture in the RobotStudio,finally,the camera,a key component of the visual system of the tomato picking robot,is set up and programmed for control.The construction of an automatic recognition tomato picking robotic arm control system has been completed.

关 键 词：番茄 采摘机械臂 末端执行器 柔性机械手 工业视觉 

分 类 号：TH138[机械工程—机械制造及自动化]