基于PVDF压电传感器的采摘机械手研究

Research on Picking Manipulator Based on PVDF Piezoelectric Sensor

针对目前果实采摘机械手无法准确自主判断抓取力度的问题,利用聚偏氟乙烯(PVDF)的压电敏感特性,研究出一种基于PVDF压电薄膜传感器的果实采摘机械手。通过采集PVDF压电薄膜传感器输出信号判断果实采摘机械手对应抓取力的变化,利用模糊控制理论控制电机实现果实抓取。同时加入过力保护功能,当测得的抓取力大于预设值时,机械手停止抓取。实验结果表明,基于PVDF压电传感器的采摘机械手能够可靠地实现果实抓取。

Aiming at the problem that the current fruit picking manipulator cannot accurately and independently judge the grasping force, a fruit picking manipulator based on PVDF piezoelectric thin film sensor has been developed by utilizing the piezoelectric sensitivity of polyvinylidene fluoride (PVDF). The corresponding change of grasping force of fruit picking manipulator is judged by collecting the output signals of PVDF piezoelectric film sensor, while the fuzzy control theory is used to control the motor to realize the fruit grasping. At the same time, the over-force protection function is added, and when the measured grasping force is greater than the pre-set value, the manipulator stops grasping. The experimental results show that the picking manipulator based on PVDF piezoelectric sensor can reliably grasp fruits.