智能花椒采摘机器人设计与应用
Design and Application of Intelligent Prickly Ash Picking Robot
粟蔚1
作者信息
- 1. 上海理工大学 机械工程学院,上海 200093
- 折叠
摘要
由于花椒的生长特点,花椒采摘是一项非常耗费人力的工作.因此,该文设计了一种可以用于花椒采摘的智能机器,末端创新设计了一种梳齿状结构.并通过Ansys对结构强度进行了仿真校验,通过仿真结果可以看出结构最易发生破坏处最大应力远小于屈服强度且无压溃现象,可以达到设计要求.同时,在梳齿状结构上安装石墨烯触觉传感器实现更加精确的控制.又设计了一种负压收纳装置,收集采摘下的花椒果实.使用STM32作为主要的控制部件,对其他部件进行控制.此外运用RBF神经网络,优化PID控制算法,使得机器具有一定的自主决策能力.
Abstract
Due to the growth characteristics of prickly ash,the process of picking it is always a highly labor-intensive task.Therefore,this paper proposes the design of an intelligent machine specifically for pepper picking,incorporating a comb tooth structure at its end.The simulation results demonstrate that the maximum stress experienced by the most vulnerable point in the structure is significantly lower than its yield strength,ensuring no crushing occurs and meeting all design requirements.Additionally,graphene tactile sensors are integrated into the comb structure to enable more precise control.A negative pressure storage device has been developed for collecting prickly ash,with STM32 serving as the main control component responsible for managing other components.Furthermore,an RBF neural net-work is employed to optimize PID control algorithms and enhance independent decision-making capabilities of the ma-chine.
关键词
花椒采摘/结构设计/强度校核/控制算法优化/STM32Key words
prickly ash picking/structural design/strength assessment/control algorithm optimization/STM32引用本文复制引用
出版年
2024
NETL
NSTL
万方数据