刘旭东,马履中,陈修祥.采摘机器人执行器气动柔性关节安全性设计[J].农业机械学报,2008,39(8):105-108.
.[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(8):105-108.
摘要点击次数: 2524
全文下载次数: 5
采摘机器人执行器气动柔性关节安全性设计   [下载全文]
   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  采摘机器人  执行器  柔性关节  安全性设计
基金项目:
刘旭东  马履中  陈修祥
江苏大学
中文摘要:针对气动柔性关节易发生气体泄漏、失压等安全问题,设计了使用多个气囊驱动的安全柔性关节,从而提高了气动柔性关节在实际使用中的安全性。建立了安全柔性关节的静态数学模型,设计了相应的控制系统,并且设计了具有2个安全柔性关节的机器人单根手指。
Key Words:
Abstract:According to the security problems of flexible pneumatic joints, such as gas leakage, pressure and other, the safety flexible joints driven by multi-gasbag were purposed, which can enhance the safety in actual use of flexible pneumatic joints. Subsequently, the static mathematical model of safety flexible joints was established. Finally, its corresponding control system was given and a single finger of the harvesting robot with two safety flexible joints was designed.

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.

   下载PDF阅读器