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当前位置: 首页 > 文章 > 抓持-旋切式欠驱动双指手葡萄采摘装置设计与试验 农业机械学报 2017,48 (11) 12-20
Position: Home > Articles > Design and Experiment of Grape-picking Device with Grasping and Rotary-cut Type of Underactuated Double Fingered Hand Transactions of the Chinese Society for Agricultural Machinery 2017,48 (11) 12-20

抓持-旋切式欠驱动双指手葡萄采摘装置设计与试验

作  者：
尹建军;陈永河;贺坤;刘继展
单  位：
江苏大学现代农业装备与技术教育部重点实验室
关键词：
葡萄;果实采摘;末端执行器;欠驱动手爪;接触力控制
摘  要：
针对葡萄的柔性无损采摘要求,基于欠驱动原理和抓持-旋切协同工作方式设计了一种欠驱动双指手葡萄采摘装置,一个电动机通过连杆机构驱动双指四指节手爪从果实中部接近并包络抓取葡萄,复合在双指手上的旋切部件摆动-伸缩带动圆盘刀切断果梗,实现果实与果梗分离。基于此设计思路,首先通过葡萄赤道面直径分析确定了欠驱动手指机构指节尺寸与转角范围,然后通过建立欠驱动手指机构静力学模型,基于传力最优和接触力均布的要求确定了驱动连杆尺寸,结合接触力分析和葡萄挤压破裂试验,获得抓持2 kg葡萄不发生损伤的最大接触力为20 N,再通过手指机构静力学模型求解获得驱动电动机的推力,从而指导驱动电动机的选型。设计了葡萄采摘装置控制系统,通过指节处压力传感器实时反馈接触力实现最大接触力的有效控制。采用加减速梯形控制方式实现了旋切部件运动,圆盘刀转速1 200 r/min可对果梗有效切断。对赤道面直径95~200 mm的葡萄进行50次采摘试验,试验结果表明该装置的采摘成功率为100%,果实挤伤率为5.2%,不考虑视觉定位葡萄与果梗的耗时,完成一次抓持-旋切动作平均耗时29.4 s。
译  名：
Design and Experiment of Grape-picking Device with Grasping and Rotary-cut Type of Underactuated Double Fingered Hand
作  者：
YIN Jianjun;CHEN Yonghe;HE Kun;LIU Jizhan;Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education,Jiangsu University;
单  位：
Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education,Jiangsu University
关键词：
grape;;fruit-picking;;end-effector;;underactuated hand;;contact force control
摘  要：
According to the requirements of flexible and nondestructive grape-picking,a kind of grapepicking device with a grasping and rotary-cut type of underactuated double fingered hand was developed based on the underactuated principle and cooperative working mode of grasping and rotary-cut. To realize the separation of the fruit from the stalk,an electric motor drove a double fingered hand with four knuckles by a linkage mechanism,and the hand approached from the middle of the grape and enveloped it. Its rotary-cut device installed on the hand drove the cutting disc to cut off the stalk by the jigging and telescopic motion. Based on this design idea,the dimensions and rotation angle range of two knuckles of underactuated finger mechanism were firstly determined by analyzing equatorial diameter of grape. Then,the static model of the underactuated finger mechanism was established,and the driven linkage size was determined according to the requirements of optimal force transfer and well-distributed contact force.Combining with the contact force analysis and squeezing-bursting test of the grapes,maximum contact force of grasping 2 kg grape without damage was obtained,which was equal to 20 N. Thrust force of the electric motor was obtained by solving the static model of the underactuated finger mechanism,and type choice of the electric motor was directed according to the thrust force. The control system of grape-picking device was designed,and the effective control of maximum contact force was realized according to realtime feedback of contact force from four pressure sensors fixed on knuckles. The motion of the rotary-cut device was realized by adopting the control mode of acceleration and deceleration,cutting disc can effectively cut off the stalk with the speed of 1 200 r/min. By picking 50 bunches of grapes with the equatorial diameter ranged from 95 mm to 200 mm,the results of grape-picking tests showed that the picking success rate of the device was 100%,extrusion wound rate of grapes was 5. 2%,and average cost time of the device was 29. 4 s without consideration of time consuming of vision localization of grape and its stalk to complete a grasping and rotary-cut motion.

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