基于农业生产的采摘机械臂节点控制系统研究分析

Research and Analysis of Node Control System of Picking Manipulator Based on Agricultural Production

大规模种植多采用垄作栽培方式,且因多种农作物不定期成熟的生长特点,使得人工进行采摘劳动强度和作业量都非常大,研发出一种代替人工的机械则非常必要。采摘机械人的主要机构是机械臂,采用关节型机械臂可以很好地避开植株的茎干,确保机械臂定位精确,保证采摘成功,因而关节节点的控制至关重要。本研究采用5自由度的关节型机械臂,以气动柔性驱动控制关节,为减少机械臂的操作空间,对机械臂结构参数进行优化。通过试验验证节点控制系统的准确性,结果表明:5自由度控制的关节型机械臂可以灵活避开障碍并可以精确、缓冲地采摘果实。

Large-scale planting and more use of ridge cultivation methods,and a variety of crops from time to time the maturity of the growth characteristics,making artificial picking labor intensity and the amount of work are very large,to develop a substitute for artificial picking machinery is necessary.The main function of the picking robot is the mechanical arm,the use of articulated manipulator can be a good way to avoid the stem of the plant to ensure accurate positioning of the robot to ensure successful picking,joint node control is essential.In this study,5-degree-of-freedom joint arm was used to control the joints with pneumatic flexibility,and the structural parameters of the manipulator were optimized by reducing the manipulating space of the manipulator.And verify the effectiveness of the node control system by experiment.The experimental results show that the articulated manipulator with five degrees of freedom can flexibly avoid the obstacle and can pick the fruit well.