农业机械学报2017，Vol.48Issue(8)：33-42,52,11.DOI:10.6041/j.issn.1000-1298.2017.08.003
多功能蜒爪式仿生末端执行器设计与试验
Design and Test of Multifunctional Dragonfly Claws Form Bio-mimetic End Effector
摘要
Abstract
In order to use the same end-effector to grasp fruits and vegetables which have various shapes and effectively avoid the end-effector damaging fruits and vegetables under the premise of ensuring capture efficiency,a kind of multifunctional dragonfly claws form biomimetic end effector was designed.Firstly,the relevant physical information of each claw finger of dragonfly was transformed into a data and quantitative model by using a stereomicroscope,and the size of the end of femur was determined through theoretical analyzing,actuating design,modeling and optimization of structure parameters,the length of mechanical front claw's femur,tibia and the tarsus were 36 mm,48 mm and 31 mm,respectively,and mechanical median claw's femur,tibia and tarsus length were 48 mm,48 mm and 36 mm,respectively.Meanwhile,D-H method was adopted to establish the motion model of the end-effector,and draw the envelope space region of end-effector.The results turned out that the manipulator can fully envelop the main parts of various fruits and vegetables.Finally,the static load test which was on the platform of parallel-mechanism and serial-mechanism was carried out to determine the ultimate stress,and the fruit as well as vegetable grabbing test was also carried.out.The average capturing success rates of mechanical hand on the tomato,apple,pepper and eggplant were 90.7％,88.6％,87.9％ and 87.2％,respectively,and the average damage rates were 4.3％,0.7％,3.6％ and 2.1％,respectively.The test results showed that the end effector realized the effect of using the same mechanical hand to grab many kinds of fruits and vegetables stably and smoothly.关键词
蜻蜓/仿生/末端执行器/欠驱动/D-H法/抓取试验Key words
dragonfly/bionics/end-effector/under-actuated/D-H method/grabbing experiment分类
农业科技引用本文复制引用
权龙哲,赵琳,李星辉,张传彬,王建森,程攻..多功能蜒爪式仿生末端执行器设计与试验[J].农业机械学报,2017,48(8):33-42,52,11.基金项目
国家自然科学基金项目(51405078)、中国博士后科学基金项目(2014M561318)、黑龙江省博士后基金项目(LBH-Z13022)和东北农业大学学术骨干项目(518020) （51405078）
