摘要
为实现细长果蔬的无损采摘,设计一种充气呈螺旋运动的软体气动抓手。对该抓手进行有限元静力学仿真分析,采用3因素3水平的中心组合设计与响应面分析方法,研究各因素对软体气动抓手螺旋特性的交互影响。以软体气动抓手的螺旋直径和螺距为响应值,分别建立二次回归模型,得到模型的决定系数分别为0.9987和0.9351,各因素对螺旋直径和螺距的影响显著性顺序从大到小均为:壁厚、内腔室高度、腔室角;以软体气动抓手的仿真直径35 mm、仿真螺距[50 mm,150 mm]为目标函数对各试验因素进行优化,最优设计结果为壁厚2.51 mm、腔室角30.52°、内腔室高度11.91 mm。制作软体气动抓手并进行仿真试验对比,结果表明,螺旋直径与螺距的误差均小于5%。对该抓手在不同气压下的抓取力进行试验,结果显示,软体气动抓手在气压0.13 MPa下至少具有3.37 N的抓取力;通过抓取不同尺寸、不同柔软度细长果蔬的试验证明了软体气动抓手抓取的有效性;以水果黄瓜为采摘对象,在3.6 s内实现了黄瓜的抓取与断梗。
In order to realize the nondestructive picking of slender fruits and vegetables,a soft pneumatic gripper with aeration and spiral motion was proposed.Based on the finite element static simulation analysis of the gripper,the interaction effect of each factor on the spiral characteristics of the soft pneumatic gripper was studied by using the three-factor and three-level central combination design and response surface analysis method.The quadratic regression model was established with the spiral diameter and pitch of the soft pneumatic grip as the response values,and the determining coefficients of the model were 0.9987 and 0.9351,respectively.The order of significance of the influence of each factor on the spiral diameter and pitch was as follows:wall thickness,cavity width and cavity angle.The simulation diameter of the soft pneumatic gripper was 35 mm,and the simulation pitch[50 mm,150 mm]was taken as the objective function to optimize each influencing factor.The optimal design results were 2.51 mm of wall thickness,30.52°of chamber angle and 11.91 mm of chamber height.The results of experiment and simulation showed that the error of screw diameter and pitch was less than 5%.The grasping force of the soft pneumatic gripper was measured under different air pressures,and the results showed that the soft pneumatic gripper had the maximum grasping force of 3.37 N at 0.13 MPa.Finally,the effectiveness of the soft pneumatic gripper was demonstrated by grasping slender fruits and vegetables of different sizes and softness.Finally,the cucumber was picked as the object,and the cucumber was successfully captured and the stem was broken in 3.6 s.
作者
贾江鸣
叶玉泽
程培林
胡润泽
武传宇
JIA Jiangming;YE Yuze;CHENG Peilin;HU Runze;WU Chuanyu(Faculty of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China;Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province,Hangzhou 310018,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2021年第6期26-34,共9页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(51975537)
浙江省基础公益研究计划项目(LGN18E050002)。
关键词
细长果蔬
采摘机器人
软体气动抓手
螺旋运动
响应面
仿真优化
slender fruits and vegetables
picking robot
soft pneumatic gripper
spiral motion
response surface
simulation and optimization
作者简介
贾江鸣(1979—),男,讲师,博士,主要从事人工智能算法和软体机器人研究,E-mail:Jarky@zstu.edu.cn;通讯作者:武传宇(1976—),男,教授,博士生导师,主要从事机构学、机器人技术和智能农业装备研究,E-mail:cywu@zstu.edu.cn。
