农业工程学报2009，Vol.25Issue(10)：121-126,6.DOI:10.3969/j.issn.1002-6819.2009.10.022
气动柔性末端执行器设计及其抓持模型研究
Flexible end-effector based on flexible pneumatic actuator and its grasping model
摘要
Abstract
Taking into account the disadvantages of rigid grasping end-effectors for agricultural fruits, such as low complaisance and easy to hurt the grasping object, authors designed a type of flexible end-effector, which took three pneumatic flexible bending joints as its fingers and one flexible pneumatic torsion joint as its wrist. The mathematical models for fingers and wrist of the end-effector were presented. According to the shapes of grasping objects, the end-effector's gripping model for grasping columniform objects and holding model for grasping spheroidal objects were analyzed in detail. Simulation and experiments were conducted to study the impact of weight and radius of the grasping object to the air pressure inside the end-effector. The results showed that the mathematical models can represent the essential characteristics of the end-effector. The flexible end-effector can be applied in agricultural fruits picking task.关键词
末端执行器/机器人/模型/柔性关节/采摘Key words
end effectors/ robots/ models/ flexible joint/ picking分类
信息技术与安全科学引用本文复制引用
鲍官军,高峰,荀一,都明宇,杨庆华..气动柔性末端执行器设计及其抓持模型研究[J].农业工程学报,2009,25(10):121-126,6.基金项目
国家863高技术研究发展计划资助项目(2009AA04Z209) （2009AA04Z209）
国家自然科学基金资助项目(50575206) （50575206）
浙江省自然科学基金资助项目(Y1080485) （Y1080485）
浙江省机械电子工程重中之重学科开放基金资助项目(20090325) （20090325）
