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采摘機(jī)器人執(zhí)行器氣動(dòng)柔性關(guān)節(jié)安全性設(shè)計(jì)
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    摘要:

    針對(duì)氣動(dòng)柔性關(guān)節(jié)易發(fā)生氣體泄漏,、失壓等安全問(wèn)題,，設(shè)計(jì)了使用多個(gè)氣囊驅(qū)動(dòng)的安全柔性關(guān)節(jié),，從而提高了氣動(dòng)柔性關(guān)節(jié)在實(shí)際使用中的安全性。建立了安全柔性關(guān)節(jié)的靜態(tài)數(shù)學(xué)模型,，設(shè)計(jì)了相應(yīng)的控制系統(tǒng),，并且設(shè)計(jì)了具有2個(gè)安全柔性關(guān)節(jié)的機(jī)器人單根手指。

    Abstract:

    According to the security problems of flexible pneumatic joints, such as gas leakage, pressure and other, the safety flexible joints driven by multi-gasbag were purposed, which can enhance the safety in actual use of flexible pneumatic joints. Subsequently, the static mathematical model of safety flexible joints was established. Finally, its corresponding control system was given and a single finger of the harvesting robot with two safety flexible joints was designed.

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劉旭東,馬履中,陳修祥.采摘機(jī)器人執(zhí)行器氣動(dòng)柔性關(guān)節(jié)安全性設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2008,39(8):105-108.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(8):105-108.

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