基于艺术设计理念的采摘机器人外形机构研究

Research on Shape Mechanism of Picking Robot Based on Art Design Concept

为进一步实现用于农业果蔬采摘的机器人外形结构优化目标,结合当前三维可视化的艺术设计理念,针对其采摘装置结构参数与布局展开研究。考虑果蔬的物理学特性与作业周边环境光线特征,建立正确的采摘动作空间坐标,设计采摘机器人结构优化流程,从采摘臂杆的偏转角度、臂杆间距与角度阈值3个方面进行参数匹配,并综合协调各采摘关节的运动状态,形成结构组件的运动目标函数。采用ADAMS场景在视觉模块、行走模块、末端执行模块的配合实现结构布局与关节运动仿真,结果表明:采摘机器人单次采摘用时与理论运动模型控制采摘计算用时误差控制在1.0s范围内,采摘成功率控制在91.1%,验证了艺术理念下机构采摘运动设计的合理性,可为采摘机器人结构深度优化进提供设计改进方向,具有一定的参考意义。

In order to further achieve the objective of optimizing the shape and structure of the robot for agricultural fruit and vegetable picking,the structure parameters and layout of the picking device were studied based on the current three-dimensional visual art design concept.Considering the physical characteristics of fruits and vegetables and the light characteristics of the surrounding environment,the correct spatial coordinates of the picking action are established,and the structure optimization process of the picking robot was designed.The parameters were matched from the deflection angle,arm spacing and angle threshold of the picking arm,and the motion state of each picking joint was coordinated synthetically to form a knot.The structure layout and joint motion simulation were realized by ADAMS scene in cooperation with vision module,walking module and end-effector module,and the moving objective function of structural components was formed.The results showed that the error between single picking time and theoretical motion model control calculation time of picking robot was within 1.0s,and the picking success rate of simulation experiment was 91.1%.The rationality of mechanism picking motion design under the artistic concept was verified,which could provide design improvement direction for structure depth optimization of picking robot and would have certain reference significance.