草莓收获机器人末端执行器的设计

Design of an End-effector for Strawberry Harvesting Robot

我国草莓种植面积广大,人工收获作业繁重,草莓的自动化收获问题亟待解决。为此,结合相关领域的研究现状,设计了一款草莓收获机器人的末端执行器。该末端执行器集成了目标识别定位、自身姿势调整和果柄夹持剪切等3个功能,具有体积小巧、成本低廉、使用安全和便携等特点,并且所有传感器和执行部件均采用低压直流供电。经样机实验证明,该末端执行器能够较好地完成预定任务。

In China, the problem of automatic strawberry harvesting is demanding prompt solution because of the extensive cultivated area and arduous artificial work. An end -effector for strawberry harvesting robot was been designed and manufactured based on the findings in related research areas both here and abroad. Three functions were integrated in the end-effector, which were target recognition and location, adjustment for self posture and grasping and cutting fruit stems. The end - effector whose components were driven by low DC voltage has the characteristics of small volume, low costing, safe and mancarried. Experimental results using the model machine shows that the end -effector can complete its task well.