ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

For the automatic and non-destructive picking of the delicate and fragile brown mushroom, the biological and mechanical characteristics of the brown mushroom were firstly analyzed, the constraint equations of grasping force at pulling-off and twisting-off modes were given, and then the twisting-off picking mode was selected as an optimal method. Secondly, by using ANSYS, a finite element analysis software, the static analysis of the flexible finger grasping mushroom was carried out to give the relationships between the grasp force and the flexible finger knots, the diameter of brown mushroom, air pressure. The genetic algorithm was used based on the established evaluation function to obtain the optimal structure of the flexible gripper with three fingers and four knuckles, and the optimal air pressure of 18.65kPa for grasping. A flexible gripper with three fingers and four knuckles was developed based on the above study. And the brown mushroom picking experiment was carried out, and the results showed that the successful grasping force was reduced to（2.4±0.3)N compared with that of the rigid gripper with (5.6±0.7)N. Moreover, the surface and interior of the grasped mushroom by the developed flexible gripper were intact, while the surface and interior within 5mm depth of the grasped mushroom were damaged by using a rigid gripper. The research result showed that the designed flexible gripper with three fingers and four knuckles was feasible for brown mushroom picking automatically and non-destructively.