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

Vol. 24 No. 2 Feb. 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 Systems DOI： 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 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)的動力學(xué)模型，對機(jī)械手柔性構(gòu)件的動力學(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);動力學(xué)分析;柔順控制 中圖分類號:TH113;TP241. 3;TH122 文獻(xiàn)標(biāo)識碼:A Structure design and dynamic characteristic analysis for strawberry picking manipulator WANG 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 control 0引言 草莓素有“水果皇后”之美譽(yù)，其甜酸適宜、芳香 宜人、營養(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，草莓植株矮小（壟作草莓株高一般為20 cm?30 cm）,作業(yè)環(huán)境復(fù)雜，其采摘過程中的避障 和低損傷成為自動化采摘的關(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)草莓的自動化采摘，國內(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Harvest CROO公司、西班牙 Vol. 24 No. 2 Feb. 2018 Vol. 24 No. 2 Feb. 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).