一种刚性与柔性联合驱动的农产品采摘机械手设计

Design of a Picking Manipulator for Agricultural Products Driven by Rigid and Flexible Combined Driving

软体机器人是由柔韧性材质制造而成,高柔韧性,可以大范围地改变自身的形态并且利用自身的柔韧性实现对目标物的保护;传统的刚性机器人具有输出力矩大,运动快而精确的特点;针对西红柿等农产品刚性机械手易损伤,柔性机械手输出力不够的问题,设计了一种刚性与柔性联合驱动的农产品采摘机械手;保证输出力的同时也对农产品进行了保护。

The soft-bodied robot is made of flexible material.It is highly flexible and can change its shape in a wide range and protects its target with its own flexibility.The traditional rigid robot has a large output torque,the movement is fast and precise;the rigid manipulator for agricultural products such as tomatoes is easy to damage,and the flexible manipulator has insufficient output force.This paper designs a rigid and flexible combined agricultural picking manipulator to ensure the output and protect the agricultural products.