中国农业科技导报2018，Vol.20Issue(5)：75-82,8.DOI:10.13304/j.nykjdb.2017.0398
基于咬合型末端执行器的柑橘采摘机器人采摘姿态研究
Study on the Harvesting Posture of the Citrus Harvesting Robot Based on Occlusal End-effector
摘要
Abstract
In order to resolve the problem that the harvesting robot vision system is not able to acurately provide the growth posture of citrus fruit under complex natural environment, thus the successful rate of harvesting is reduced, this paper proposed an optimum harvesting posture determination method based on citrus harvesting robot occlusal end-effector. This method based on end-effector configuration parameters, established the performance evaluation function of the harvesting posture to the center position of fruit, and gained the optimal harvesting posture of actuator by using calculation of this function. The calculated optimal harvesting posture was verified by constructing harvest experiment platform and designing harvest experiment. The results showed that citrus harvesting successful rate was increased by 26.32％ using the harvesting posture optimized by the optimal harvesting posture evaluation method, compared with the general horizontal harvesting posture.关键词
柑橘采摘机器人/末端执行器/构型/采摘姿态Key words
citrus harvesting robot/end-effector/configuration/harvesting posture分类
农业科技引用本文复制引用
张哲,王毅,付舜,马冀桐..基于咬合型末端执行器的柑橘采摘机器人采摘姿态研究[J].中国农业科技导报,2018,20(5):75-82,8.基金项目
重庆市重点产业共性关键技术创新专项(cstc2015shms-ztzx0100) （cstc2015shms-ztzx0100）
重庆市基础科学与前沿技术研究一般项目(cstc2016jcyjA0444)资助. （cstc2016jcyjA0444）
