仿生鹈鹕水果采摘机器人设计

The Design of Pelican Fruit Picking Robot Based on Bionics

为了解决采摘小型水果劳动力不足的问题,基于仿生学设计了一款仿鹈鹕水果采摘机器人。该机器人的行走机构由履带小车底盘构成,执行装置采用了一个RBBR关节串联的机械手,执行装置末端设置了一个控制嘴巴张合机构和一个收紧剪刀。基于STM32设计了其驱动系统并给出了水果自动识别算法。整个机器人结构设计小巧灵活,可以在不同地面的田间穿梭,工作过程不需要人的干涉,真正实现了水果采摘智能化。

In order to solve the problem of insufficient labor force for picking small fruit,a robot based on Bionics is designed to pick fruit from pelican. The robot’s walking mechanism consists of a track car chassis.The execution device uses a RBBR joint tandem manipulator. There are a control mouth zhanghe mechanism and a tightening scissors at the end of the execution device. The driving system is designed based on STM32 and the automatic fruit recognition algorithm is given. The whole robot structure is compact and flexible. It can shuttle in different fields. The work process does not require human interference,and it can make fruit picking be intelligence.