击打式松果采摘机器人设计与试验

Design and Experiment of Hitting Pine Cone Picking Robot

针对人工采摘松果过程中存在严重安全隐患的问题,设计了一种击打式松果采摘机器人,该机器人系统主要由电机驱动模块、主控模块、视觉模块、夹持模块、采摘模块组成,视觉模块完成松果识别与定位,实时反馈给主控模块,并控制电机驱动模块,配合夹持模块和采摘模块作业实现松果采摘。采用Matlab仿真软件建立松果采摘机器人运动学模型,求解出机械臂工作空间为直径4.5 m的球体;基于冲量原理和Lagrange方程建立碰撞动力学模型,通过动态分析求解出碰撞后各关节保持原有运动规律所需的驱动力矩;运用静力学原理建立关键组件有限元模型,利用ANSYS Workbench对结构进行优化设计,优化后其安全系数最低为1.5771,支撑关节最大变形4.1484 mm。仿真结果表明:该机器人结构在运动学、动力学及静力学方面均满足设计要求。制作物理样机并在实验室环境下进行了松果采摘试验,样机初始状态尺寸1000 mm×1200 mm×1100 mm,试验结果验证了机器人结构设计的合理性与实用性。

In order to settle the security issue in the process of artificial pine cone picking,a hitting pine cone picking robot was designed,which mainly included motor drive module,control module,vision module,clamping module and picking module.The system performed the pine cone identification and location through the vision module,transmitted the result back to the control module,and then controlled the motor drive module to cooperate with the clamping module and the picking module to complete the pine cone picking.Based on the kinematics model,the diameter of the working space of mechanical arm was calculated by Matlab software to be 4.5 m.A collision dynamics model based on Lagrange equation and pulse principle was used to solve the torque required to maintain the original law of motion during the collision.The optimized mechanical safety factor was at least 1.5771 and the total deformation was 4.1484 mm by the ANSYS Workbench software.Simulation results showed that the structure can satisfy the design requirements in terms of kinematics,dynamics and statics.The pine cone picking test was performed in the laboratory environment,and the size of the constructed prototype was 1000 mm×1200 mm×1100 mm.The experimental results verified the rationality and practicability of the structure design of the robot,and its design and analysis provided guidance and theoretical basis for the development of the pine cone picking robot in the future.