基于变胞原理的坚果剥壳机械手接触建模与构型研究探析

Research advances in contact model and mechanism configuration for nut shelling manipulation based on metamorphic method

坚果是中国重要的经济林树种,壳仁分离是坚果精深加工的关键环节,目前普遍存在剥壳率低、损失率高、果仁完整性差等问题。建立准确的果壳与剥壳机械接触模型是破壳力分析的基础。树坚果果壳表面粗糙、外形不规则,接触区域不能抽象为规则的几何形状,如何建立面接触约束模型是实现无损伤壳仁分离的关键问题。以研究坚果壳仁分离机械手的破壳机理、结构设计为目标,提出一种变胞多指机械手,分析了坚果脱壳技术、剥壳机械手接触建模的研究现状,介绍了变胞机构的起源和应用研究概况,并阐述了坚果剥壳机械手的研究内容与发展前景。

Nuts are the important economic forest tree species of China.De-shell is the key operation of nut deep processing.There are some problems in the current nut cracking devices such as the low decorticating rate,the high nuts losses rate and nutmeat integrity problems,etc..The foundation of force analysis is to establish contact model for nut and mechanical.The nut surface is rough and irregular,so the contact area cannot be modeled as regular shape.How to set up contact constraint model is the key problem to accomplish non-loss shelling.In order to study the shell-breaking mechanism and structural design of the nut shelling manipulation,a multi-fingered metamorphic manipulator is presented.An overview of the nut shelling technology and the contact manipulator modeling are proposed.The origin and application of metamorphic mechanisms are introduced.Then the research contents and development prospects of nut shelling manipulator are described.