农业机械学报2024，Vol.55Issue(z1)：18-28,11.DOI:10.6041/j.issn.1000-1298.2024.S1.003
温室番茄采摘机器人伸缩式机械臂设计与试验
Design and Experiment of Tomato Picking Robot Based on Telescopic Robotic Arm
摘要
Abstract
The development of intelligent agriculture is the future trend in the agricultural field,and the development of intelligent harvesting equipment is a key issue in promoting the transformation and upgrading of the farming industry.Given the complexity of the tomato picking environment,small mobile space,and other issues,an autonomous tomato picking robot suitable for high-efficiency picking under the wide trench and narrow ridge greenhouse planting mode was designed.The actuator of the picking robot consisted of a four-degree-of-freedom telescopic robotic arm,a multi-positional wrist joint,and a three-finger twisting picking end hand.By analyzing the growth of tomatoes and the operating environment,a rope-row type of retractable mobile joint was designed to reduce the size of the retractable mechanism.For the actual tomato picking action,a three-finger twist picking end-effector was used,and a multi-position wrist joint was added to achieve multi-position multi-directional twist picking.The picking control system was based on ROS-integrated picking,planning,and other strategies to control the robotic arm to complete the picking function.Based on the movable space of tomato greenhouses under the planting mode of wide trench and narrow ridge,a four-rotation and four-wheel-drive mobile chassis was designed,which can realize the movement and steering between tomato planting rows.Finally,a prototype tomato-picking robot was developed,and a field picking test was carried out in a greenhouse,and the fruit-picking success rate reached more than 85%,and the picking cycle time was 13.4s,which had a high picking operation efficiency and picking success rate,and met the requirements of tomato picking in greenhouses.关键词
番茄/采摘机器人/伸缩式机械臂/温室/宽沟窄畦种植模式Key words
tomatoes/picking robot/telescopic robotic arm/greenhouse/wide trench narrow ridge cultivation mode分类
农业科技引用本文复制引用
王亚薇,何津立,林熙淼,陆文武,马锃宏,杜小强..温室番茄采摘机器人伸缩式机械臂设计与试验[J].农业机械学报,2024,55(z1):18-28,11.基金项目
浙江省自然科学基金重大项目(LD24E050006) （LD24E050006）
