李国利,姬长英,顾宝兴,徐伟悦,董芒.多末端苹果采摘机器人机械手运动学分析与试验[J].农业机械学报,2016,47(12):14-21,29.
Li Guoli,Ji Changying,Gu Baoxing,Xu Weiyue,Dong Mang.Kinematics Analysis and Experiment of Apple Harvesting Robot Manipulator with Multiple End-effectors[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):14-21,29.
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多末端苹果采摘机器人机械手运动学分析与试验   [下载全文]
Kinematics Analysis and Experiment of Apple Harvesting Robot Manipulator with Multiple End-effectors   [Download Pdf][in English]
投稿时间:2016-04-26  
DOI:10.6041/j.issn.1000-1298.2016.12.003
中文关键词:  采摘机器人  机械手  主从结构  末端执行器  运动学分析
基金项目:国家高技术研究发展计划(863计划)项目(2006AA10Z259)、江苏省自然科学基金项目(BK20140720)和中央高校基本科研业务费专项资金项目(KYZ201325)
作者单位
李国利 南京农业大学
金陵科技学院 
姬长英 南京农业大学 
顾宝兴 南京农业大学 
徐伟悦 南京农业大学 
董芒 南京农业大学 
中文摘要:提出了一种多末端采摘机器人机械手结构方案,设计了机械臂、末端执行器及其控制系统。机器人机械臂采用主从两级结构,从臂前端可挂接多个末端执行器。末端执行器能进行果实连续采摘,其结构紧凑、驱动简单、通用性好,可适用于苹果、柑橘、梨等球形水果的自动化收获。针对设计的采摘机械手具有多末端的特点,提出了果树分区采摘作业策略,一个采摘区内各个末端执行器同时连续采摘、果实集中回收。在此基础上建立了机器人机械手运动学模型,采用D—H法推导了运动学方程,运用Matlab Robotics Toolbox进行了运动学仿真验证。制作了机械手物理样机并在实验室环境下进行了机械手运动学及采摘试验,结果表明,机械手各从臂末端位置误差小于9mm,采摘成功率为82.14%。
Li Guoli  Ji Changying  Gu Baoxing  Xu Weiyue  Dong Mang
Nanjing Agricultural University;Jinling Institute of Technology,Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University and Nanjing Agricultural University
Key Words:harvesting robot  manipulator  master-slave structure  end-effector  kinematics analysis
Abstract:In order to solve the problem of low picking efficiency of single end-effector apple harvesting robot, a structure scheme of multiple end-effectors manipulator was proposed. The mechanical arm, end-effector and manipulator control system were designed. Master-slave two-grade structure was used in the mechanical arm, the multiple end-effectors were linked to forepart of the robot slave mechanical arm, and could operate continuously and simultaneously. The end-effector of the robot had advantages of compact structure and simple drive, which could absorb position error of mechanical arm, and it was universal and suitable for apple, citrus, pears and other spherical fruits picking. According to the characteristics of manipulator with multiple end-effectors, a partitioned fruit tree picking operation strategy was formulated, all the end-effectors picked the target fruits of a picking partition continuously and simultaneously, and the fruits were centrally collected. On this basis, the kinematics mode for robot manipulator was established, the kinematics equations were derived based on the D—H method. The kinematics simulation of the manipulator was conducted using Matlab Robotics Toolbox, the simulation results showed that the kinematics analysis was entirely correct. Based on these, the manipulator physical prototype was manufactured, and the manipulator kinematics and end-effectors picking experiments were carried out under laboratory environment. The results showed that the picking operation strategy was reasonable and feasible, the position error of manipulator end was less than 9mm, and the picking success rate could reach 82.14%.

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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