Design And Research For The Underactuated End-effector Manipulator

At present fruit picking robot End-effector Manipulator mostly were pure sucker picking,tube picking, vibrating picking, full-drive multi-finger picking. End-effector Manipulator is theequipment to contact target crop directly, which could damage fruit because of big contact force.Therefore, research of End-effector Manipulator played a vital role in achieving automationpicking. A new idea of underactuated multi-fingered End-effector Manipulator for apple pickingwas put forward to solve this problem.In this paper, the apple was used as picking object, research status for picking manipulatorwas analyzed, An underactuated picking End-effector manipulator for Apple-picking was putforward where there may meet the crawl requirement. Its Kinematic and dynamic were analyzed,and a prototype was developed. The research done and result in this paper are as follows:1、Foreign and domestic research statuses and development for End-effector Manipulator hadbeen elaborated, the key issues had been studied, content and method in this paper was putforward.2、 According to the basic demands of picking object, an underactuated picking End-effectormanipulator for Gear-link was designed. Its structure principle and function of picking was putforward. Implementation is as follows: screw shaft was drove by a motor, the identical threefingers were drove by the motor,then three link was drove, picking the Apple was completed bythe three fingers, so a driver drove seven degrees of freedom.3、Combined with work principle, the mathematical model of the institution was established,kinematics simulation and optimization software was developed with Visual Basic visualizationplatform, effects of parcel spatial were used as target, a set of optimum structure parameters wereobtained by Human-Computer Interaction: the initial angle of the first joint is56, tilt angle ofSector gear lever is109, inclination angle of the third joint is104, the length of third finger jointwas29mm, the length of second finger joint was16mm, the length of link was75mm.4、 Parametric model was established with secondary development of ADAMS. Bycomparison of the effect of different parameters, the contact force was10to20N, the feasibilityof the design was confirmed.3D model of all parts were built by UG.NX7.0,the virtual prototypeand simulation model were established by ADAMS, and the simulation test results of thetrajectory and the displacement curve were obtained.5、Engineering drawing were built, and machining prototype was machined, capture test and relaxation test for apples of six different sizes, effects of Parcel spatial were analyzed,resultwas got through experimental and theoretical data collation, comparison of virtual simulationdata and different sizes of apple, which was accordant with theoretical analysis. the reference forUnderactuated apple picking machine can be provide. Grip system was used for testing grippingforce, and the reliability of End-effector Manipulator was verified by testing the contact area andthe size of the contact force.6、Make a conclusion of the paper and put forward an outlook of the further research.