轻工机械2018，Vol.36Issue(2)：69-72,4.DOI:10.3969/j.issn.1005-2895.2018.02.013
两关节全驱动可调节果蔬采摘末端执行器的设计
Design of Two Joint Full Drive Adjustable Fruit and Vegetable Picking End-Effectors
夏凡 1沈精虎 1张敏1
作者信息
- 1. 青岛大学机电工程学院,山东青岛 266071
- 折叠
摘要
Abstract
In order to accelerate the fruits and vegetables picking by intelligent robot instead of humans,and to improve the quality and efficiency of the operation, a flexible and humanoid hand end effector for picking fruits and vegetables was proposed.The end effector is driven by the mode of two-joint full drive,and through the 2 joints(proximal finger joint 1 and distal finger joint 2) cooperation with each other to hold the fruit like human hand.A static model of envelope grasping mechanism of two joint full drive finger was established to obtain the relation between the input torque and the contact force in the linkage mechanism of the proximal finger joint and the control of the force applied to the fruit and vegetable to reduce the damage of fruits and vegetables.Finally,the simulation experiments of the whole mechanism based on SolidWorks was carried out to verify the rationality of the mechanism.The end effector of the fruit and vegetable picking machine has high versatility and can compensate the robot image recognition error.关键词
采摘机器人/果蔬采摘末端执行器/全驱动/两关节/输入驱动力/SolidWorks软件Key words
picking robort/fruit and vegetable picking end-effectors/full drive/two joint/input driving force/SolidWorks分类
信息技术与安全科学引用本文复制引用
夏凡,沈精虎,张敏..两关节全驱动可调节果蔬采摘末端执行器的设计[J].轻工机械,2018,36(2):69-72,4.
