摘要
针对采摘机器人采摘效果差、自动化程度较低的问题,基于模糊算法对采摘机器人的执行系统进行优化。采摘机器人的执行系统主要由计算机、执行机构模块、动力元部件模块、传动装置模块和传感器模块等模块组成。为提高采摘机器人的抓取稳定性,针对末端执行器的控制系统进行了算法设计,包括力矩控制模型的设计和模糊控制算法的设计。为验证采摘机器人的性能,对其进行果实抓取稳定性和抓取损伤试验,结果表明:采摘机器人果实抓取稳定,且可实现无损坏采摘。
Aiming at the problem of poor picking efficiency and low automation degree of the picking robot,the execution system of the picking robot based on fuzzy algorithm was optimized.The execution of the picking robot was constituted of computer,actuator module,power element module,transmission device module and sensor module.The algorithm of the end effector control system was designed to improve the grasping stability of the picking robot.It concluded the design of torque control model and fuzzy control algorithm.To verify the property of the picking robot,the fruit grasp stability and grasp damage tests were carried out.The tests results show that the picking robot could grasp the fruit stably and could pick fruit without damage.
作者
吴楠
Wu Nan(Yinchuan University of Energy,Yinchuan 750105,China)
出处
《农机化研究》
北大核心
2022年第9期45-48,共4页
Journal of Agricultural Mechanization Research
基金
宁夏回族自治区“十三五”热能工程重点学科建设支柱项目(宁教高办〔2015〕110号文件)。
