采摘机器人避障末端臂的设计与试验

Design and Testing for a Obstacle Avoidance End Arm of Picking Robot

在机器人实际采摘果实的作业中,机器人末端臂及末端执行器与果树枝条接触碰撞几率最高,其要具有感知碰撞的能力,从而判断原规划采摘路径的合理性,最终实现避障采摘之目的。为此,提出了一种采摘机器人感知碰撞避障伸缩末端臂,其通过转动关节与机器人大臂连接,整体相对于大臂可以进行仰俯动作,同时本身具有直线伸缩的功能,从而驱动末端执行器实现直线接近待采果实。感知碰撞结构使末端臂在上、左和右3个方向上具有感知危险碰撞的能力。通过试验改进了样机部分结构,伸缩杆运动平稳,感知碰撞结构动作可靠,并可通过调节微动开关的高度位置,能够对不同碰撞力做出反应,发出危险力的开关量信号,以适应多种果蔬的采摘作业。

In the actual operation of robot picking, the end arm of picking robot and end-effector are the parts which have highest chances of collision with branches of fruit tree, In order to realize the purpose of obstacle avoidance picking, the end arm of picking robot and end-effector should have the ability to sense the collision, thus judge the reasonableness of the Path Planning picking. This paper presents a kind of picking robot telescopic end arm which could perceive the collision and avoid obstacle, by turning joints connected to the robot arm, the whole telescopic end am1 can be pitching action compared to the arm, while itself also has a linear expansion function, drive the end-effector to achieve straight features close to picking fruit. The sensation collision structure enables the end arm have ability to perceive dangerous collision on the top, left and right directions. By testing the prototype has been improved part of the structure, Extension rod motion stability and sense collisions structure reliable, by adjusting the height of the micro switch location, the end arm can react to different collision force and sends out the dangerous force switch signal, so as to adapt to a variety of fruit and vegetable picking jobs.