华南农业大学学报2017，Vol.38Issue(3)：99-105,7.DOI:10.7671/j.issn.1001-411X.2017.03.016
番木瓜摘取的接触力学模型构建与试验
Design and test of a contact mechanics model for papaya picking
摘要
Abstract
[Objective] For stably picking papaya without damage.[Method] A clamping plan of papaya was designed by means of three-finger clamping symmetrically and wringing, and the equilibrium equation of contact force was constructed.On the basis of force screw theory, the clamping stability was analyzed.The picking contact mechanics model was formulated, and a picking test for papaya was conducted.[Result] There were no obvious deformation, crack or indentation on the surfaces of papaya samples.The pulp at the clamping position had no obvious color change or bruise after leaving for 24 hours at room temperature.The maximum clamping force was far less than the pressure limit on the transverse diameter of ripe papaya at the elastic deformation stage.Papaya mass and torque moment were correlated closely with transverse diameter, vertical diameter, stalk length and diameter of the twisted stalk.Mass multiple linear regression analysis achieved extremely significant level, and twist torque linear regression analysis reached significant level.There were good trend consistency between theoretical clamping forces and the measured clamping forces.The measured clamping forces were higher than theoretical values, but the maximum deviation was less than 20%.[Conclusion] The picking scheme can stably clamp papaya without mechanical damage.The papaya picking contact mechanics model is correct and practical.The research can provide a basis for designing papaya picking end-effector and controlling clamping force.关键词
番木瓜/摘取试验/末端执行机构/接触力学模型Key words
papaya/picking test/end-effector/contact mechanics model分类
农业科技引用本文复制引用
夏红梅,夏娟,甄文斌,张炳超..番木瓜摘取的接触力学模型构建与试验[J].华南农业大学学报,2017,38(3):99-105,7.基金项目
国家自然科学基金(51005080, 51175189) （51005080, 51175189）
广州市科技计划项目(2014J4100147) （2014J4100147）
