草莓采摘机器人机械结构设计

草莓采摘机器人机械结构设计摘要随着草莓种植的推广。国内草莓种植面积迅猛增加，收获劳动力不足。严重制约草莓种植的发展，因此有必要进行智能草莓采摘机器人研究，来替代人来完成该项费时、费力的采摘工作。草莓采摘机器人要求能自动检测成熟草莓的位置信息，然后根据这些信息控制机器人的执行机构动作，实现草莓采摘的自动化。本文首先综合叙述了草莓生产现状以及草莓采摘机器人国内外研究状况，再根据国内北方地垄式草莓种植的情况，设计出草莓采摘机器人机械本体，提出一种五自由度关节型草莓采摘机械手臂，五个自由度分别为：腰转、肩转、肘转、腕转和腕摆，并开发了一种末端执行器的结构形式，该末端执行器主要由伺服电机、曲柄滑块机构、动夹、镍铬电热丝组成，不以草莓果实作为抓取目标，而是夹切草莓果柄，不伤害果实，同时采用镍铬电热丝切割果柄可以防止切口感染细菌而腐烂，影响果实品质。与此同时，还在solidworks中构建了草莓采摘机器人、末端执行器的三维模型，还生成了相关重要部件的工程图，便于后期的使用。关键字：草莓采摘机器人，机械本体，五自由度草莓采摘机械手臂，末端执行器StrawberrypickingrobotmechanicalstructuredesignAbstract：Withthepopularizationofthestrawberry.Thestrawberryplantingareaincreasedrapidly,theharvestlaborshortage.Developmentisrestrictedbythestrawberry,itisnecessarytocarryoutintelligentstrawberryharvestingrobot,insteadofpeopletocompletethetime-consuming,laboriousharvesting.Strawberrypickingrobotpositioninformationrequirementscanautomaticallydetectripestrawberry,thenaccordingtotheseinformationtocontroltherobotactuator,realizetheautomationofpickingstrawberry.Thispaperdescribescomprehensivelytheresearchstatusathomeandabroadaswellastherobotstrawberryproductionstatusofstrawberrypicking,thenaccordingtotheNorthridgetypestrawberryplantingconditions,calculateanddesigntheappropriatesizeofthestrawberrypickingvehiclebody,putforwardakindoffivedegreesoffreedomarticulatedstrawberrypickingmanipulator,andthedevelopmentofthestructureofanendeffector.Atthesametime,theauthorconstructsa3Dmodel,strawberrypickingrobotendeffectorinSolidWorks,alsogeneratedtheendeffectorandthemechanicalarmoftheengineeringdrawing,convenientforlaterviewingandprocessing.Keywords:Strawberrypickingrobots;Mechanicalbody;Fivedegreeoffreedommanipulator;Theendeffector目录1绪论.............................................................................................................................................11.1引言...................................................................................................................................11.2工作环境和作业要求.......................................................................................................11.3草莓采摘机器人国内外发展状况...................................................................................21.3.1国外研究现状..........................................................................................................21.3.2国内研究现状.........................................................................................................21.4研究的目标和内容...........................................................................................................31.4.1研究目标.................................................................................................................31.4.2研究内容.................................................................................................................32草莓采摘机器人机械本体设计.................................................................................................33草莓采摘机器人五自由度机械手臂设计.................................................................................43.1采摘机器人机构选型原则...............................................................................................43.2机械臂的设计...................................................................................................................53.2.1设计要求.................................................................................................................53.2.2机械手臂的选择.....................................................................................................63.3机械手手腕的设计...........................................................................................................63.3.1手腕设计的基本要求.............................................................................................73.3.2草莓采摘机械手手腕的结构型设计.....................................................................73.4机械手的结构型式...........................................................................................................73.5机械手运动学方程的建立...............................................................................................83.5.1正运动学模型.........................................................................................................83.5.2逆运动学模型.......................................................................................................104草莓采摘机器人末端执行器设计...........................................................................................134.1末端执行器介绍.............................................................................................................134.2末端执行器的分类.........................................................................................................134.2.1两个手爪的末端执行器.......................................................................................134.2.2两个以上手爪的末端执行器...............................................................................144.3夹持式末端执行器的选型.............................................................................................144.3.1夹持式末端执行选择的基本要求.......................................................................144.4末端执行器的结构型式和工作原理.................