番茄采摘机械手的三维设计与试验研究

Three-dimensional Design and Experimental Research of Tomato Picking Manipulator

采摘机械的末端执行器作为果蔬收获类机器人的重要组成部分,其采摘机械手的设计是收获机器人研发的重要环节。为此,分析了当前采摘机械手在国内外的发展现状,结合番茄果实的生物学特征,以保护番茄果实不受损伤为设计目标,利用NX12.0三维制图软件设计出了一种将作用力施加于番茄桔梗生长节点的番茄采摘机械手。同时,通过三维软件的仿真模块对机械手的关键零件进行有限元分析,进而对整体机构进行模拟仿真,仿真结果验证采摘机械手的设计合理性,旨在为下一步番茄采摘机械手的研发奠定基础。

The end effector of the picking machine is an important part of the fruit and vegetable harvesting robot,and the design of its picking manipulator is an important part of the research and development of the harvesting robot.This paper analyzes the current development status of picking manipulators at home and abroad,combined with the biological characteristics of tomato fruits,with the design goal of protecting tomato fruits from damage,and using NX12.0 three-dimensional mapping software to design a way to apply force to tomato A tomato picking robot at the growth node of Platycodon grandiflorum.The finite element analysis of the key parts of the manipulator is carried out through the simulation module of the three-dimensional software,and then the whole mechanism is simulated and simulated.The simulation results verify the rationality of the design of the picking manipulator and lay the foundation for the next step of the research and development of the tomato picking manipulator.