基于欠驱动原理死鸡捡拾末端执行器设计与仿真分析

Design and simulation analysis of dead chicken picking end-effector based on under actuated principle

为解决规模化养殖场人工识别捡拾死鸡劳动强度大、效率低等问题,以3~7周周龄笼养肉鸡为操作对象,基于欠驱动理论设计3关节4指死鸡捡拾机器人末端执行器。在肉鸡体尺测量、力学特性测量基础上,采用ADAMS建立机械指参数化模型与肉鸡模型,并依据目标函数、设计变量和约束条件开展机械指结构优化,优化结果显示目标函数增大28.6%。针对3周龄与7周龄肉鸡作末端执行器运动仿真抓取试验,结果表明,机械手传动平稳,机械手结构设计合理。利用机械手试验样机,抓取死亡30 min内肉鸡平均成功率为88.3%,死亡30 min以上肉鸡平均成功率为96.7%以上,平均抓取时间32 s,机械手有较高工作效率,达到设计目标。

In order to solve the problems of high labor intensity and low efficiency in manual identification and picking up dead chickens in large-scale farms,this paper designed a 3-joint and 4-finger end-effector of the robot based on the underactuated theory,taking the cage broilers aged 3-7 weeks as the operating object.Based on the measurement of body size and mechanical properties of broilers,the mechanical finger parameterized model and the broiler finger model were established by ADAMS,and the mechanical finger structure was optimized according to the objective function,design variables and conditions.The optimization results showed that the objective function increased by 28.6%.The end-effector motion simulation grasping experiment was carried out for broilers aged3 weeks and 7 weeks.The results show that the manipulator had stable transmission and good grasping effect.The robot hand test prototype was used to grasp the dead chickens.The average success rate of the robot grasping the broilers within 30 minutes of death was 88.3%,and the average success rate of the broiler chickens beyond 30 minutes of grasping death was over 96.7%,and the average grasping time was over 96.7%,It was 32 s,and the manipulator had higher working efficiency and reached the design goal.