农业机械学报2017，Vol.48Issue(11)：21-27,7.DOI:10.6041/j.issn.1000-1298.2017.11.003
机械手不同抓取控制方式对番茄机械损伤的影响分析
Impact of Robot Grasping Control Modes on Mechanical Damage of Tomato
摘要
Abstract
In order to analyze the impact of robot grasping control modes on mechanical damage of tomato,the Burgers model was used to express the deformation characteristics of tomato,and the viscoelastic parameters of tomato were obtained by the creep experiment.Three kinds of variations of speed,i.e.,motion with uniform deceleration,deceleration after uniform motion and motion with variable deceleration were selected to indicate different grasping control modes.The linear function,Butterworth amplitude square function and exponential function were used to represent different grasping control modes during the robot grasping process.On this basis,the model of plastic deformation of tomato was solved,and the rules of tomato plastic deformations in different grasping control modes were analyzed when the grasping time was constant.Then,the optimal grasping strategy was selected based on the minimum plastic deformation.Experimental results indicated that the third grasping control mode was selected as the best grasping strategy,when the grasping speed was 1 mm/s,the grasping time was 1s,the plastic deformation of tomato was the smallest,the early maturity and middle maturity of plastic deformations were 0.002 6 mm and 0.009 8 mm,respectively.Using the third grasping control mode to carry out the grasping control experiment,the simulation results were highly identical with measured results,the determination coefficient R2 was 0.99,which proved the rationality and feasibility of the third mode as the optimal grasping control mode.This research can offer a reference for robots grasping process optimization.关键词
番茄/采摘/机械手/抓取控制方式/机械损伤Key words
tomato/picking/robot/grasping control mode/mechanical damage分类
信息技术与安全科学引用本文复制引用
周俊,孟一猛,张娜,严正红..机械手不同抓取控制方式对番茄机械损伤的影响分析[J].农业机械学报,2017,48(11):21-27,7.基金项目
国家自然科学基金项目(31471419)和教育部博士点基金博导类项目(20130097110043) （31471419）
