基于气动柔性驱动器的球果采摘末端抓持器

Design of Spherical Fruit End-grasper Based on FPA

为实现球果的安全、可靠采摘,基于气动柔性驱动器(FPA)设计了球果采摘末端执行器,主要由3个FPA驱动的手指和基座构成。建立了手指指端在基座坐标系内的运动学方程,分析了末端抓持器在任意姿态下进行球果抓握的力学过程,建立了球果抓持数学模型。实验结果表明,所设计的球果采摘末端执行器可对成熟球果进行任意姿态的抓握,建立的数学模型可用于实际的采摘过程控制。

With the aim to realize the safe and stable picking of spherical fruit,a type of picking end-grasper was designed based on the flexible penumatic actuator（FPA）.The end-grasper was mainly composed of a base and three fingers driven by FPAs.The kinematics of finger tips in the base coordinate was established.The force model of spherical fruit grasping under discretional orientation was analyzed and the grasping mathematic model was built.The experimental results showed that the designed spherical fruit end-grasper could pick and hold mature fruit under discretional orientation and the mathematic model could be adopted in fruit-picking practice control.