一种刚柔混联欠驱动草莓采摘机械手设计

Design of underactuated strawberry harvesting manipulator with rigid-compliant structured

我国大面积种植草莓多采用垄作栽培方式,加之草莓果实不定期成熟的生长特点,使得人工采摘草莓劳动强度和作业量非常大,因此开发一种代替人工作业的草莓采摘机构成为亟待解决的问题。本研究针对温室内地垄式栽培草莓实现自动化低损采摘的需求,创新设计出多指式刚柔混联欠驱动草莓采摘机械手,并利用气动肌腱实现驱动。该机械手设置欠驱动关节,具有结构简单、低能耗的特点;同时在手指单元中加入柔顺构件,利用其柔性变形可减小采摘中对果实的损坏。通过动力学仿真分析结果表明,该机械手能够实现采摘中对草莓果实的抓取包络动作。

The large area strawberry planting in China is conducted in the way of hill culture . In the same time ,the maturation of straw berry is aperiodic ,w hich enlarges the intensity and quantity of labor .Hence ,it is an urgent mission to develop straw berry harvesting manipula‐tors to release manual labor .According to the requirement of automatic straw berry harvesting with low loss in way of hill culture in greenhouses ,the multi‐finger underactuated strawberry harvesting manipulator with rigid‐compliant structure is designed ,and pneumatic tendons are used for activation .The underactuated mechanism with the characteristic of simple framework and lower consume is employed during the design of finger unit .In the same time ,complaint component is also applied considering the tender request and the characteristic of compliant mechanism ,by which the harm to strawberry during harvesting can be reduced with the flexi‐ble deformaiton .The results of dynamic simulation approve that this kind of manipulator can accomplish envelope grab during harvesting .