摘要
为了满足茄子采摘机器人的可靠性和安全性需要,设计研制了一种茄子采摘机器人的末端执行器。该末端执行器主要由传动机构、切割机构和抓取机构等几大部分组成,具有节省动力源、结构简单、体积小、质量轻等特点。设计的抓取机构对指定有效范围内(直径3～6.5cm)的茄子收获比较可靠,不伤果实;切割机构能够高质量地完成切割。经实验测定表明:对不同位置和不同大小的茄子进行抓取的成功率为92.76%,证实所研制机构能够顺利完成茄子采摘。
To improve the reliability and security of the eggplant - harvesting robot, this paper design and build an end - effeeter of this robot. The end - effecter consists of a transmission organ ,a cutter organ and a grabber organ. This end - effecter use only one motor to provide power which make itself simple, small and light. The grabber can reliably grab the eggplant which specified before the experiment （ diameter from 3 cm to 6.5 cm） without harming it ; the cutter can cut the stem completely. The result of the eggplant harvesting experiment shows the successful rate can up to 92.76% and the designed end -effecter can be used in future harvesting robot.
出处
《农机化研究》
北大核心
2008年第12期62-64,共3页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金资助项目(60375036)
