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番茄采摘機(jī)器人末端執(zhí)行器的硬件設(shè)計(jì)
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    摘要:

    設(shè)計(jì)的基于多傳感器信息融合和開放式控制的智能型番茄采摘機(jī)器人末端執(zhí)行器,，其硬件主要包括執(zhí)行系統(tǒng)、感知系統(tǒng),、控制系統(tǒng)和供電系統(tǒng),，執(zhí)行系統(tǒng)中真空吸盤裝置使果實(shí)從果束中分離,，手指夾持機(jī)構(gòu)對(duì)番茄可靠抓持，果梗切斷裝置利用激光對(duì)果梗進(jìn)行切斷,。該末端執(zhí)行器設(shè)計(jì)質(zhì)量為1.2 kg,，完成一次采摘?jiǎng)幼髦恍? s。只需更換聯(lián)接板,，即可與其他機(jī)械手順利聯(lián)接,。

    Abstract:

    An intelligent end-effector for tomato-harvesting robot was developed based on multi-sensor information fusion and open control. The end-effector is composed of actuating system, perception system, control system and power-supply system. In actuating system, the vacuum suction pad device separates the fruit from the cluster, and then a gripper grasps the tomato fruit reliably, finally the peduncle-cutting device cuts the peduncle with laser. Design mass of this end-effector is 1.2 kg, which needs only 3 s to perform actions of harvesting. By changing a connecting plate, the end-effector can be mounted on different manipulators. 

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劉繼展,李萍萍,李智國(guó).番茄采摘機(jī)器人末端執(zhí)行器的硬件設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2008,39(3):109-112.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(3):109-112.

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