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针对目前国内外已开发的果蔬采摘末端执行器存在的不足,结合采摘苹果的具体实际,提出了一种苹果采摘机器人末端执行器。其本体结构主要由夹持机构、切割机构、气动系统和传感控制系统等组成,并制造了样机,其机械本体质量只有1.3kg。在试验室里进行了采摘苹果试验,结果表明:该末端执行器采摘方案合理有效,总体性能可满足机器人采摘苹果的要求,采摘一个苹果只需2.3 s,对于采摘其他球状果实具有一定的通用性。
Aiming at the shortcomings of the end effector of fruit and vegetable picking which have been developed at home and abroad, combining with the actual situation of picking apples, an end effector of apple picking robot is put forward. The main structure of the body by the clamping mechanism, cutting mechanism, pneumatic system and sensor control system and other components, and manufactured a prototype, the mechanical body mass of only 1.3kg. The apple picking experiment was carried out in the laboratory. The results showed that the picking scheme of the end effector was reasonable and effective, the overall performance could meet the requirements of robot picking apple, picking an apple took only 2.3 s, which had certain versatility for picking other spherical fruits .