In order to realize the nondestructive picking of citrus,a soft end effector was designed in this paper.A mechanical model of soft finger bending deformation was established based on Yeoh constitutive model.The center combination design test was carried out by finite element simulation.The optimal combination parameters were as follows:the height of the airbag was 7mm;the thickness of the limiting layer was 3.5mm and the thickness of the air chamber was 3mm.The mechanical model was modified by fitting ANSYS finite element simulation results with MATLAB.The mechanical model and finite element simulation were verified by bending test of soft finger.Through ANSYS finite element simulation,the inflatable pressure of soft finger was 0.035～0.07 mpa,and the soft manipulator not only met the stiffness requirements but also did not damage citrus.The experiment platform was set up,and the maximum squeeze pressure was 18.13 N under the maximum atmospheric pressure.The experiment proved that the success rate of nondestructive clamping of citrus by the soft end-effencer was 96.67%,and the average time of picking a citrus was 3.54 s.
关键词
有限元仿真/气动驱动/无损采摘/采摘末端执行器/软体机械手
Key words
finite element simulation/Pneumatic drive/Nondestructive picking/Picking end-effector/Soft arm
维普
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