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獼猴桃采摘機(jī)器人末端執(zhí)行器設(shè)計
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公益性行業(yè)（農(nóng)業(yè)）科研專項資金資助項目（201203016）和中央高?；究蒲袠I(yè)務(wù)費(fèi)專項資金資助項目（QN2009041）


Design of End-effector for Kiwifruit Harvesting Robot
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    摘要:

    為實(shí)現(xiàn)獼猴桃的自動化采摘，設(shè)計了獼猴桃采摘機(jī)器人末端執(zhí)行器。測定了獼猴桃抗壓特性和其他相關(guān)物理特性,，提出了一種機(jī)器采摘方案,，設(shè)計了末端執(zhí)行器的機(jī)械裝置,、感知系統(tǒng)和控制系統(tǒng),。試驗結(jié)果表明,，該末端執(zhí)行器對獼猴桃的抓持成功率為100%,，采摘成功率為90%,，完成一次采摘動作耗時9 s。

    Abstract:

    An end-effector for harvesting kiwifruit was developed. The compressibility properties and other related physical properties of the kiwifruit were measured. The body structure, perception system and control system of the end-effector were designed. The experiment of kiwifruit picking was finally conducted. The results showed that the success ratio of clamping and picking kiwifruit reached to 100% and 90%, respectively. Picking time of 9 s was needed to perform one action of harvesting. 

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陳軍,王虎,蔣浩然,高浩,雷王利,黨革榮.獼猴桃采摘機(jī)器人末端執(zhí)行器設(shè)計[J].農(nóng)業(yè)機(jī)械學(xué)報,2012,43(10):151-154,199. Chen Jun, Wang Hu, Jiang Haoran, Gao Hao, Lei Wangli, Dang Gerong. Design of End-effector for Kiwifruit Harvesting Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(10):151-154,199.

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  • 在線發(fā)布日期: 2012-10-19
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