摘要
设计了一款夹剪一体化的玫瑰花采摘机器人末端执行器,该末端执行器采用电机、齿轮、连杆作为传动结构,完成了玫瑰花的剪断、夹持采摘动作,具有结构简单、控制方便、适用于玫瑰花的生长环境等优点。验证了玫瑰花采摘末端执行器工作的可行性,并基于ANSYS对末端执行器的关键部件进行有限元分析以及结构优化。
A rose harvesting end effector with an integrated clip and shear is designed in the paper.The harvesting actuator adopts motor,gear and connecting rod as transmission structure to complete the cutting,holding and harvesting action of the rose.It has the advantages of simple structure,convenient control and suitable for the growth environment of rose.The feasibility of the end-effector is verified.The finite element analysis and structural optimization of the key components of the end effector are carried out based on ANSYS.
出处
《工业控制计算机》
2021年第9期68-69,71,共3页
Industrial Control Computer
基金
上海市科技支撑项目(18391900900)
上海市自然科学基金资助项目(18ZR1414300)。
关键词
末端执行器
玫瑰花采摘
采摘机器人
有限元分析
结构优化
end-effector
Rose harvesting
harvesting robot
finite element analysis
structure optimization
