剛?cè)峄炻?lián)的草莓采摘機(jī)械手結(jié)構(gòu)設(shè)計(jì)與動(dòng)力學(xué)分析

Vol. 24 No. 2Feb. 2018第24卷第2期2 0 1 8年2月、 計(jì)算機(jī)集成制造系統(tǒng)Computer Integrated Manufacturing SystemsDOI： 10. 13196/j. cims. 2018. 01. 014剛?cè)峄炻?lián)的草莓采摘機(jī)械手結(jié)構(gòu)設(shè)計(jì)與動(dòng)力學(xué)分析王家忠，張建寶,弋景剛（河北農(nóng)業(yè)大學(xué) 機(jī)電丄程學(xué)院河北 保定071001）摘 要:針對(duì)英莓形狀不規(guī)則.組織嬌嫩容易受機(jī)械損傷難以實(shí)現(xiàn)高效低損的機(jī)械化采摘作業(yè)的問(wèn) 題,提岀一種剛?cè)峄炻?lián)的機(jī)械手結(jié)構(gòu)。為了建立柔順偽剛體模型，將柔順構(gòu)件等效為具有欠驅(qū)動(dòng)關(guān)節(jié)的多剛 體串聯(lián)系統(tǒng)；采用影響系數(shù)法建立柔順構(gòu)件等效多剛體系統(tǒng)的動(dòng)力學(xué)模型，對(duì)機(jī)械手柔性構(gòu)件的動(dòng)力學(xué)特性 進(jìn)行仿真分析與樣機(jī)試驗(yàn)研究。仿真和試驗(yàn)結(jié)果表明采用力反饋的剛?cè)峄炻?lián)機(jī)構(gòu)具有良好的包絡(luò)性、可控 性、平穩(wěn)性及速度特性，適合于草菴的柔順抓取控制，該成果可為草莓等果蔬無(wú)損采摘機(jī)械手的設(shè)計(jì)及優(yōu)化 提供借鑒和參考。關(guān)鍵詞：草莓采摘;機(jī)械手;剛?cè)峄炻?lián);動(dòng)力學(xué)分析;柔順控制中圖分類號(hào):TH113;TP241. 3;TH122文獻(xiàn)標(biāo)識(shí)碼:AStructure design and dynamic characteristic analysis for strawberry picking manipulatorWANG J iazhong« ZHANG Jianbao« YI Jinggang(College of Mechanical and Electrical Engineering, Agricultural University of Hebei. Baoding 07100L China) Abstract： Aiming at the problem that strawberry was difficult to realize mechanical picking because of high water content and delicate structure, a rigid flexible hybrid structure of manipulator was proposed for ridge culture. To build the pseudo rigid body model, the compliant component was taken as the multi-rigid body series system of under-actuated joint. The dynamic model of compliant component equivalent rigid body was constructed with influence coefficient method, and the simulation analysis and experimental research for dynamic characteristics of distributed compliant mechanism were carried out. The simulation result showed that the r.gid flexible mixed connection mechanism with force feedback had good envelope controllability, stability and speed characteristic, and was suitable for compliant picking of strawberry. The research on the separating device had important application value for design and optimization of strawberry and other fruits and vegetables.Keywords： strawberry picking； manipulator； rigid flexible hybrid structure； dynamics analysis； compliance control0引言草莓素有“水果皇后”之美譽(yù)，其甜酸適宜、芳香 宜人、營(yíng)養(yǎng)豐富，然而由于草莓含水量高、組織嬌嫩, 容易受機(jī)械損傷，導(dǎo)致其品質(zhì)急劇下降、貯藏期縮 短;另外，草莓植株矮?。▔抛鞑葺旮咭话銥?0 cm30 cm）,作業(yè)環(huán)境復(fù)雜，其采摘過(guò)程中的避障和低損傷成為自動(dòng)化采摘的關(guān)鍵環(huán)節(jié)因此，口 前草莓采摘作業(yè)仍以人工為主，難以實(shí)現(xiàn)機(jī)械化采 摘作業(yè)。為了實(shí)現(xiàn)草莓的自動(dòng)化采摘，國(guó)內(nèi)外學(xué)者做 了大量研究，大部分工作集中在研發(fā)草儺采摘機(jī) 器人，其重點(diǎn)和難點(diǎn)是機(jī)械手，即末端執(zhí)行器的研 發(fā)LT）。目前，美國(guó)Harvest CROO公司、西班牙Vol. 24 No. 2Feb. 2018Vol. 24 No. 2Feb. 2018收稿日期：2017-05-03；修訂日期：2017-08-16. Received 03 May 2017accepted 16 Aug. 2017.基金項(xiàng)目：國(guó)家口然基金資助項(xiàng)0(51305125)；河北省高等學(xué)?？茖W(xué)技術(shù)研究基金資助項(xiàng)目(YQ2013007). Foundation items：Project suppor- ted by the National Natural Science Foundation China(No. 51305125). and the 55cicr.cc & Technology Program of Hebei Higher Education Institutionst China(Na YQ2013007).