摘要
为了推进果蔬果实采摘机械化,减少采摘成本.设计了一种圆茄采摘末端执行器,采用步进电机驱动,利用丝杆机构进行传动,带动抓取机构做开合和闭合运动,手爪采用tpu材质以防止采摘时对圆茄果实造成损伤.同时利用三维建模软件建立末端执行器三维模型,对单根手爪进行运动学分析,计算出抓取范围为0～168 mm.最后通过ADAMS对末端执行器进行运动学仿真分析,得出的仿真结果与运动学分析相近,显示该机构运动平缓,结构设计合理.
Abstract
This study focuses on the design of an end-effector specifically for harvesting round nightshade fruits in or-der to promote mechanization and reduce picking costs.The end-effector is driven by a stepper motor and screw mechanism to control the grasping mechanism's opening and closing movements.TPU material is utilized for the claw to prevent damage to the fruit during picking.Kinematic analysis of a single claw was conducted with a calculated graspingrange of 0～168mm.Finally,kinematic simulation using ADAMS confirmed that the mechanism moves gently and has a reasonable structural design.
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