蘑菇采摘机器人的结构设计及优化

Structure design and optimization of mushroom picking robot

针对工厂化蘑菇种植中人工采摘费时、费力等问题,研制了一款蘑菇采摘机器人.首先,采用模块化设计了采摘机器人机械结构,基于D-H法推导机器人运动学正解和逆解,并进一步分析了采摘手臂的动力学性能;以采摘效率为目标建立了手臂尺寸的多目标优化模型,并用遗传算法求最优解;然后建立Adams虚拟样机模型,对优化前后的机器人模型分别进行采摘动力学仿真试验,结果表明,在电动机输出转矩相同情况下,大臂关节和小臂关节最大角速度分别提高22.9%和18.6%,单次采摘时间由1.60 s缩短到1.36 s,速度提高15%;最后研制原理样机并进行采摘试验,试验结果表明,所研制的机器人可适用于工厂化蘑菇种植模式下多层菇床中狭小、大面积作业的自动化采摘,单次蘑菇采摘时间约为2.0 s.

To solve the problems of picking mushrooms manually in the factory mushroom growing environment with consuming time and labor,a mushroom picking robot was designed and developed.The mechanical structure of the picking robot system was designed by the modular design method,and the positive and negative kinematics solutions of the robot were deduced based on the D-H coordinate method to analyze the dynamic performance of the picking arm.The multi-objective optimization model of picking arm size structure was established for maximizing the picking efficiency,and the optimal solution was obtained with rapid iteration by genetic algorithm.The Adams virtual prototype model was established,and the picking dynamics simulation tests of the robot model before and after optimization were conducted.The simulation results show that under the same motor output torque,the maximum angular velocities of the big arm joint and the small arm joint are increased by 22.9%and 18.6%,respectively,while the single picking time is shortened from 1.60 s to 1.36 s with the picking speed increased by 15%.The developed physical prototype is suitable for the large area automatic picking operation in the sall multi-layer mushroom bed under the factory mushroom growing mode,and the single picking time is 2.0 s.