陈燕,蒋志林,李嘉威,王佳盛,刘威威,邹湘军.夹剪一体的荔枝采摘末端执行器设计与性能试验[J].农业机械学报,2018,49(1):35-41.
CHEN Yan,JIANG Zhilin,LI Jiawei,WANG Jiasheng,LIU Weiwei,ZOU Xiangjun.Design and Testing of Litchi Picking End-effector Integrated Clamping and Cutting Performance[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(1):35-41.
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夹剪一体的荔枝采摘末端执行器设计与性能试验   [下载全文]
Design and Testing of Litchi Picking End-effector Integrated Clamping and Cutting Performance   [Download Pdf][in English]
投稿时间:2017-06-06  
DOI:10.6041/j.issn.1000-1298.2018.01.004
中文关键词:  荔枝串果  采摘  末端执行器  夹剪一体  力学模型  性能试验
基金项目:国家自然科学基金项目(31571568)和广东省科技计划项目(2014A020208091、2015A020209120、2015A020209111)
作者单位
陈燕 华南农业大学 
蒋志林 华南农业大学 
李嘉威 华南农业大学 
王佳盛 华南农业大学 
刘威威 华南农业大学 
邹湘军 华南农业大学 
中文摘要:针对荔枝串果低损高效的机械化采摘,设计了具有单动力源驱动、夹剪一体的荔枝采摘机器人末端执行器,构建了剪切力学模型和稳定夹持力学模型,分析了夹持模块的力封闭性,推导了稳定夹持的三点接触正压力计算模型,设计了末端执行器的物理样机,并对其进行了采摘、负重和抗遮挡干扰工作性能试验。试验结果表明:末端执行器具有良好的夹持负重能力,串果母枝直径分别为3mm和7mm时,动态最大负重质量分别为1.33kg和3.01kg;采摘时能快速剪切母枝并稳定夹持串果,平均夹剪时间为2s,串果母枝直径5mm以下采摘成功率均为100%,串果母枝直径6~7mm采摘平均成功率为70%;具有中等抗遮挡干扰采摘能力。
CHEN Yan  JIANG Zhilin  LI Jiawei  WANG Jiasheng  LIU Weiwei  ZOU Xiangjun
South China Agricultural University,South China Agricultural University,South China Agricultural University,South China Agricultural University,South China Agricultural University and South China Agricultural University
Key Words:litchi fruit mother branch  picking  end-effector  clamping and cutting integration  mechanical model  performance test
Abstract:Aiming at mechanized picking of litchi fruits with low damage and high efficiency, an end-effector integrated clamping and cutting of litchi picking robot with single power source drive was designed firstly. Secondly, the cutting mechanical model and the stabilized clamping mechanical model of the litchi serial fruit mother branch were constructed. Thirdly, the force sealing of clamping module was analyzed, on this basis, the normal pressure computation model of stabilized clamping with three points contact was derived. At last, the physical prototype of end-effector was manufactured and the work performance tests were executed. The performance tests included picking test, load test and anti-occlusion interference test. The experiment results indicated that the litchi picking end-effector well preformed in weight clamping with maximum dynamic weights of 1.33kg and 3.01kg when the diameters of fruit mother branches were 3mm and 7mm, respectively. What’s more, the litchi fruit was stably clamped and the branch was cut quickly when picking with average time of clamping and cutting of 2s. The success rate was 100% when the diameters of the fruit mother branches were lower than 5mm. The average success rate was 70% when the diameters of the fruit mother branches were between 6mm and 7mm. Besides, the end-effector had medium picking ability of anti occlusion interference.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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