一种多用途采摘机器人末端执行器的设计

Design of an end-effector for a multi-use picking robot

我国水果种植面积广大,采摘任务繁重,急需机械代替人工。目前出现的末端执行器均为一对一采摘,为此,设计了一种适合采摘两种水果、且有一定自适应能力的收获机器人末端执行器。该末端执行器采用三指对中定心外夹持采摘方式,预设采摘对象为苹果和梨,具有体积小巧、操作简单、安全可靠、适应性强、成本低廉等特点。研究证明,此末端执行器能够很好完成采摘任务。

It is necessary to replace manual working by machinery in fruit picking in our country because of the large planting areas and onerous task of harvesting.The current end-effectors were one-to-one picking,thus a new kind of end-effector of picking robot has been designed,which was suitable for picking two kinds of fruits and showed self-adaptive ability.This end-effector used three fingers centering gripper jaws for apple and pear harvesting,and had the features of small size,simple operation,safe and reliable,adaptable,low cost and so on.The experiments showed that this end-effector could complete picking tasks well.