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设计了一种用于水果采摘机器人的通用柔性末端执行器,该末端执行器采用电机带动丝杠螺母机构,驱动平行四边形连杆机构实现动作。通过调整定位螺母改变左右手指相对方向可以分别实现对球状物体和圆柱状物体的抓取动作。为了保护某些表皮娇嫩的水果,该末端执行器增加了柔性抓取功能,并且抓取刚度可以调节。最后对末端执行器进行运动学和力学分析,并用MATLAB进行了仿真分析。
A universal flexible end effector for fruit picking robots is designed. The end effector uses a motor to drive the screw nut mechanism to drive the parallelogram linkage mechanism. By adjusting the positioning nut to change the relative direction of the left and right fingers can achieve the ball-shaped objects and cylindrical objects crawling action. In order to protect some of the delicate skin of the fruit, the end-effector adds a flexible gripping function, and gripping stiffness can be adjusted. Finally, the end effector was analyzed by kinematics and mechanics and simulated by MATLAB.