基于单片机的仿人多指番茄采摘机械手设计

Design and Implementation of a New Type of Humanoid Multi Finger Tomato Picking Manipulator Based on SCM

为了降低番茄采摘过程的破碎率,提高采摘效率,实现自动化采摘过程,利用单片机和PID控制技术,设计了一种新型的仿人多指采摘机械手,并采用反馈调节控制方案设计了仿人多指机械手的控制系统。基于AT8 9 S5 2单片机构建了单手指控制器,来对机械手手指夹紧力信号进行采集和处理,并发出夹紧指令。为了测试机械手的有效性和可靠性,首先对番茄的质量尺寸相关性和电压产生的夹紧力进行了测试,通过参数调整后得到了番茄夹紧力随时间变化曲线和破碎率随时间变化曲线,最后对果实采摘的采摘时间和漏采率进行了8次试验。由测试结果可以看出:对于单颗番茄的采摘最高用时仅为2.32s,最高漏采率仅为0.42%,采摘作业效率和采摘精度均较高。

In order to reduce tomato picking broken rate,improve the picking efficiency,realize automatic picking process,by MCU and PID control technology design a new type of humanoid multi fingered picking manipulator,and the feedback control scheme,the humanoid multi- fingered manipulator control system. The single finger controller is constructed based on the AT89S52 microcontroller,and the finger clamping force signal of the manipulator is collected and processed,and the clamping instruction is issued. For mechanical testing of validity and reliability,are first generated on tomato quality dimension relativity and voltage clamping force were tested through adjusting the parameters obtained the tomato clamping force with time change curve and broken rate versus time curve,at the end of the fruit picking picking time and loss rate of 8 experiments,by the test results can be seen,for single tomato picking with the highest is only 2. 32 s,maximum loss rate is only 0. 42%,picking operation efficiency and picking accuracy is higher.