摘要
由于香蕉果串的结果高度和果形尺寸较大,且采摘过程极易发生损伤,给其采摘带来极高难度,目前仍停留在比较落后的人工采摘方式上,劳动强度大。为此,提出了一种香蕉采摘与吊运作业机器人,可将香蕉果柄的切割、夹持和香蕉果串的吊放作业整体性完成,其机械系统主要由伺服连杆机械臂、夹持与切割末端执行器和液压履带行走动力单元等部分组成。工作时,末端执行器夹持与切割香蕉果柄的直径范围为40~150mm,液压履带车行走的最大行走速度为1.07m/s。通过基于ADAMS的机械系统运动和动力学仿真分析获得了伺服连杆机械臂的作业范围,以香蕉按照宽窄行宜机化种植模式为基础,对接近实际情况的伺服驱动作业流程进行了仿真研究,验证了各伺服电机的驱动能力。
Due to the large fruit height and shape size of banana fruit string,and it is easy to damage in the picking process,which brings great difficulty to banana picking.At present,it still stays in the relatively backward manual picking mode,with high labor intensity.This paper presents a kind of banana picking and lifting robot,which can cut and hold the banana fruit handle and lift the banana fruit string as a whole.The mechanical system is mainly composed of servo link manipulator,clamping and cutting end effector and hydraulic crawler walking power unit.The diameter range of the end effector is 40-150 mm,and the maximum walking speed of the hydraulic crawler is 1.07 m/s.The working range of the servo link manipulator was obtained through the motion and dynamics simulation analysis of the mechanical system based on ADAMS.Based on the banana planting mode of wide narrow row suitable for mechanization,the servo driving operation process close to the actual situation was simulated,and the driving ability of each servo motor was verified.
作者
张日红
欧炬基
朱立学
李小敏
林桂潮
Zhang Rihong;Ou Juji;Zhu Lixue;Li Xiaomin;Lin Guichao(College of Mechanical and Electrical Engineering,Zhongkai University of Agriculture and Engineering,Guangzhou 510225,China)
出处
《农机化研究》
北大核心
2024年第2期23-30,共8页
Journal of Agricultural Mechanization Research
基金
广州市科技计划项目(201804010480)
广东省重点领域研发计划项目(2019B020223003)
广东省现代农业产业技术体系创新团队项目(2019KJ139)。
关键词
香蕉
采摘与吊运作业机器人
混联机构
运动仿真
动力性能
banana
picking and lifting robot
hybrid mechanism
motion simulation
dynamic performance
作者简介
张日红(1980-),男,内蒙古乌兰察布人,副教授,博士,(E-mail)zrh-neu@163.com。;通讯作者:朱立学(1970-),男,浙江三门人,教授,博士,(E-mail)zhulixue@126.com。
