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当前位置: 首页 > 文章 > 多功能蜓爪式仿生末端执行器设计与试验 农业机械学报 2017 (8) 33-42+52
Position: Home > Articles > Design and Test of Multifunctional Dragonfly Claws Form Bio-mimetic End Effector Transactions of the Chinese Society for Agricultural Machinery 2017 (8) 33-42+52

多功能蜓爪式仿生末端执行器设计与试验

作  者：
权龙哲;赵琳;李星辉;张传彬;王建森;程攻
单  位：
浙江大学生物系统工程与食品科学学院;东北农业大学工程学院
关键词：
蜻蜓;仿生;末端执行器;欠驱动;D-H法;抓取试验
摘  要：
为实现利用同一机械手柔顺抓取各种形状果蔬,并且在保证抓取效率的前提下,有效避免末端执行器对果蔬的损害,设计了一种基于仿生原理的多功能蜓爪式末端执行器。首先通过体式显微镜将蜻蜓各爪指的相关物理信息转换为具有指导意义的数据和量化模型,并采用理论分析与数学建模的方法,确定了机械手前后爪腿节、胫节与跗节的长度分别为36、48、31 mm,机械手中爪腿节、胫节与跗节的长度分别为48、48、36 mm;在此基础上,采用D-H法建立了该欠驱动末端执行器的运动模型,绘制了机械手的包络空间区域,进而得到机械手能够完全包络各种形态果蔬的主要抓取部位;最后,应用并联机构平台和串联机构平台开展静态抓取破坏试验,测定了损伤力极限值,并进行了果蔬抓取试验。试验结果表明,仿生机械手对番茄、苹果、柿子椒和茄子的平均抓取成功率分别为90.7%、88.6%、87.9%和87.2%,损伤率分别为4.3%、0.7%、3.6%和2.1%;可见该仿生末端执行器能够较好地实现对各种形态果蔬柔顺、稳定的无损抓取。
译  名：
Design and Test of Multifunctional Dragonfly Claws Form Bio-mimetic End Effector
作  者：
QUAN Longzhe;ZHAO Lin;LI Xinghui;ZHANG Chuanbin;WANG Jiansen;CHENG Gong;College of Engineering,Northeast Agricultural University;College of Biosystems Engineering and Food Science,Zhejiang University;
关键词：
dragonfly;;bionics;;end-effector;;under-actuated;;D-H method;;grabbing experiment
摘  要：
In order to use the same end-effector to grasp fruits and vegetables which have various shapes and effectively avoid the end-effector damaging fruits and vegetables under the premise of ensuring capture efficiency,a kind of multifunctional dragonfly claws form biomimetic end effector was designed.Firstly,the relevant physical information of each claw finger of dragonfly was transformed into a data and quantitative model by using a stereomicroscope,and the size of the end of femur was determined through theoretical analyzing,actuating design,modeling and optimization of structure parameters,the length of mechanical front claw's femur,tibia and the tarsus were 36 mm,48 mm and 31 mm,respectively,and mechanical median claw's femur,tibia and tarsus length were 48 mm,48 mm and 36 mm,respectively.Meanwhile,D-H method was adopted to establish the motion model of the end-effector,and draw the envelope space region of end-effector. The results turned out that the manipulator can fully envelop the main parts of various fruits and vegetables. Finally,the static load test which was on the platform of parallel-mechanism and serial-mechanism was carried out to determine the ultimate stress,and the fruit as well as vegetable grabbing test was also carried out. The average capturing success rates of mechanical hand on the tomato, apple, pepper and eggplant were 90. 7%, 88. 6%, 87. 9% and 87. 2%,respectively,and the average damage rates were 4. 3%,0. 7%,3. 6% and 2. 1%,respectively. The test results showed that the end effector realized the effect of using the same mechanical hand to grab many kinds of fruits and vegetables stably and smoothly.

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