类球果蔬采摘末端执行器设计及分析

Design and Analysis of End-effector for Spherical Fruit and Vegetable Picking

根据一般类球果蔬采摘特点,设计了一种基于改进对称双摇杆机构的类球果蔬采摘末端执行器。在ADAMS中建立其虚拟样机,并对其受力关键部位作柔性体处理,得到其运动评估参数的变化曲线,得出该执行器机构运动特性,可知该执行器结构简单、运动关系简易,具有良好的可靠性保证。

According to the general characteristics of spherical fruits and vegetables harvesting, an end-effector based on double-rocker mechanism for picking robot was designed. The virtual prototype was established in the ADAMS and the key parts of stressed were treated as flexible bodies, the motion parameters of the actuator were obtained, and the motion characteristic of the actuator was obtained. It was proved that the actuator had simple structure, simple kinematic relationship and good reliability.