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猕猴桃采摘机器人末端执行器设计与试验
其他题名Development and Experiment of End-effector for Kiwifruit Harvesting Robot
傅隆生; 张发年; 槐岛芳德; 李桢; 王滨; 崔永杰
作者部门海洋信息技术装备中心
关键词猕猴桃 采摘机器人 无损采摘 末端执行器
发表期刊农业机械学报
ISSN1000-1298
2015
卷号46期号:3页码:1-8
收录类别EI ; CSCD
EI收录号20151700776839
CSCD记录号CSCD:5383521
产权排序2
资助机构国家自然科学基金资助项目(61175099)
摘要进行了棚架式栽培模式自然生长条件下簇生猕猴桃无损采摘机器人末端执行器的研究。基于果实与果柄的分离特性,提出面向机器人的果实采摘方法和简化几何模型,设计了果实与果柄的分离试验进行可行性验证;基于果实采摘方法设计了从底部接近、旋转包络分离毗邻果实并抓取、向上运动分离果实的末端执行器,并试制样机,进行了现场评价试验。结果表明,采摘模型能够实现果实与果柄的分离,末端执行器解决了毗邻果实分离问题,能够实现单个果实稳定抓取、无损采摘和采后抓持,成功率达到 96.0%,平均单果耗时 22s。
其他摘要Fruit nondestructive picking is one of the key technologies of developing harvesting robot. In this paper, a nondestructive picking end-effector of kiwifruit was studied. Firstly, based on the artificial way of kiwifruit picking and the biology characteristics of kiwifruit stem, a fruit picking method for robot was proposed, which not only need to separate the fruit from stem, but also hold the fruit against drop it. Then, the picking method wasverified by a special designed separation test of fruit and its stem. After that, an end-effector was designed and manufactured based on the fruit picking method, which approached a fruit from the bottom, and enveloped and grabbed the fruit from two sides, and then rotated up to separate the fruit from stem. In the end, the performance of the end-effector prototype was tested on the most common cultivar ‘Hayward’ at the Meixian Kiwifruit Experimental Station at the Northwest A&F University. The results show that, the proposed picking method could separate the fruit successfully with the least force of 1.3N when the angle between fruit and stem was set as 60°, which is not significant different from the manual picking where the angle between fruit and stem is approximately to 90° in normal. The end-effector was tested on 68 samples (28 in the morning, 25 in the noon, and 15 in the night). All of them were successfully picked and held by the end-effector. Among them, two samples are picked with stem which might cause by the reason of that the fruit is not ripe enough to be harvested. All the picked fruit are free of damage until ripen for eat. In all, the end-effector effectively solve the problems of separating the adjacent fruits, could grab a single fruit stably 100%, and pick and hold it nondestructively. Success rate of picking is 96.0% and the average picking time is 22s.
语种中文
引用统计
被引频次:13[CSCD]   [CSCD记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15718
专题海洋信息技术装备中心
作者单位1.西北农林科技大学机械与电子工程学院
2.中国科学院沈阳自动化研究所
3.宫崎大学农学部
推荐引用方式
GB/T 7714
傅隆生,张发年,槐岛芳德,等. 猕猴桃采摘机器人末端执行器设计与试验[J]. 农业机械学报,2015,46(3):1-8.
APA 傅隆生,张发年,槐岛芳德,李桢,王滨,&崔永杰.(2015).猕猴桃采摘机器人末端执行器设计与试验.农业机械学报,46(3),1-8.
MLA 傅隆生,et al."猕猴桃采摘机器人末端执行器设计与试验".农业机械学报 46.3(2015):1-8.
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