复合气动式苹果采摘手设计与试验

Design and Experiment of Composite Pneumatic Apple Picking Manipulator

摘要:

针对非结构化复杂果园环境下机器人无损采摘苹果难度大等问题，本文借鉴章鱼捕食猎物方式，设计了一种集吸盘吸附与手指抓握为一体的复合气动式苹果采摘手。根据陕西富士苹果的一般特征参数，完成了采摘手关键零部件设计及其尺寸参数确定。建立模型对吸盘吸附与手指抓握的运动学与动力学进行仿真分析，结果表明该采摘手具有良好的运动柔顺性和吸附与抓握的稳定性;通过搭建采摘手性能测试平台，对采摘过程中的手指接触压力数据进行处理与分析，验证了该采摘手整体系统的可行性与采摘流程的合理性;以六臂苹果采摘机器人为试验平台开展了采摘手果园实地试验，试验结果表明，该采摘手综合采摘成功率为84.7%，综合损伤率为0.88%，可以完成复杂果园环境下机器人采摘苹果工作。

Abstract:

Through research, it was found that octopus has multiple tentacles and more than 200 suction cups on each tentacle, which can effectively avoid the prey from breaking free by the combination of tentacle grasping and suction cup adsorption without knowing the shape of the prey. In order to pick the end of the robot to meet the different shapes, sizes and growth conditions of the apple picking work, the octopus prey way was drawn on, according to the general characteristics of the Shaanxi Fuji apple parameters, the picking robot adsorption mechanism, gripping mechanism, power transmission device and other key parts of the design optimization and its size parameters to determine the design of a set of suction cups adsorption and finger gripping as a combination of pneumatic apple picking robot were completed. A composite pneumatic apple picking manipulator integrating suction cup adsorption and finger gripping was designed. According to the three-dimensional configuration of the manipulator, through the kinematics and dynamics analysis of the suction cup adsorption and finger gripping, the kinematics and dynamics simulation models were established and simulation tests were carried out, and it can be seen from the simulation results that the movement trends of the end of the adsorption mechanism and the end of the gripping mechanism had a better consistency, and the relative slippage between the manipulator and apples was within the range of 0.19~2.28mm. The above simulation results showed that the manipulator had good flexibility of movement and stability of adsorption and grasping. The experimental platform of the six-armed apple harvesting robot was utilized to conduct field trials in an orchard, focusing on the picking of apples. The test classified the apples available for harvesting by the robot into four categories: vertically grown and unobstructed, vertically grown with minimal obstruction, non-vertically grown and unobstructed, and non-vertically grown with minimal obstruction. A comprehensive evaluation was performed based on these categories. The results of the experiment demonstrate that the harvesting hand achieved an overall success rate of 84.7% and a damage rate of only 0.88%, showcasing its capability to accomplish apple picking tasks in intricate orchard environments.