柔性吞咽机械手的结构设计与样机试验

Structure design and prototype test of flexible swallowing manipulator

为解决表皮较为脆弱的果实抓取过程中易造成损伤的问题,基于柔性3D打印材料提出了一种结构精简、具有吞咽功能的柔性机械手。对柔性机械手的吞咽动作流程进行了分析,结合D-H坐标法和常曲率变形建立了单手腕的连杆参数表,得到了单手腕的运动学方程;在搭建柔性机械手样机的基础上,对气动元件的形变量进行了测试试验,采用Matlab进行数据拟合,得到了驱动角度与驱动气压的关系式;利用摄像机对机械手抓取西红柿的过程进行了拍摄,通过Get Data获得驱动元件的角度,得到了机械手抓取过程与驱动角度的关系。试验结果表明:通过角度的改变可以实现对柔软果实的良好抓取和吞咽效果。

In order to solve the problem that the fruit epidermis is easily damaged during the process of harve'sting,a flexible manipulator with structural simplification and swallowing function was proposed based on the flexible 3D printing material.The swallowing action flow of a flexible manipulator,was analyzed.A single wrist connecting rod parameter was established by combining the D-H coordinate method and the constant curvature deformation,then the kinematic equations of the single wrist were obtained.On the basis of the prototype of the flexible manipulator,the shape variables of the pneumatic components were tested,and the relationship between the driving angle and the driving pressure was obtained by using Matlab to fit the data.The process of grasping tomato by flexible manipulator was captured by camera.The angle of driving element was obtained by GetData,and the relationship between grasping process and driving angle was obtained.The experimental results show that the favorable grasping and swallowing effect of soft fruit can be achieved by changing the driving angle.