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基于氣動柔性驅動器的蘋果采摘末端執(zhí)行器研
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on End-effector of Apple Picking Based on New Flexible Pneumatic Actuator
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    摘要:

    設計了一種基于氣動柔性驅動器的蘋果采摘末端執(zhí)行器：以氣動柔性驅動器作為其彎曲關節(jié),，用力學分析的方法對彎曲關節(jié)及末端執(zhí)行器進行建模,，分析建立關節(jié)彎曲量及輸出力與其內腔氣體壓力之間的數學關系,；建立了末端執(zhí)行器抓取蘋果目標的數學模型,。實驗結果表明:該末端執(zhí)行器有較大的輸出力,，能很好地抓持蘋果,，并具有很好的柔順性,。

    Abstract:

    A new type of end-effector was developed based on flexible pneumatic actuator (FPA), which was designed as a bending joint. The mathematical model of bending joints and end-effector was established with mechanical analysis method, the relationship between pressure and bending capacity, as well as the relationship between pressure and output bending force was analyzed. The mathematical model for end-effector of crawling apple was built. The experimental results show that the force of the end-effector is quite strong and the actuator can grasp apples perfectly and flexibly. 

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楊慶華,金寅德,錢少明,鮑官軍.基于氣動柔性驅動器的蘋果采摘末端執(zhí)行器研[J].農業(yè)機械學報,2010,41(9):154-158. on End-effector of Apple Picking Based on New Flexible Pneumatic Actuator[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(9):154-158.

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