Study On The Design And Grasping Characteristics Of The End-effector Of Picking Robot

In the rapid development of science and technology today,intelligent equipment technology and automatic planting technology have also been promoted vigorously in agricultural production.Therefore,the growth of fruits and vegetables in China has been growing in a large scale,and the traditional method of artificial picking has been unable to meet the demand.In addition,the construction of national urbanization resulted in a large decrease in the labor force of rural young people and the sharp increase in labor costs.As an important tool in agricultural production,fruit picking robot has saved a lot of labor,so it is of great significance to popularize and develop fruit picking robot.The End-effector is an extremely important part of picking robot,as a tool for picking robot to pick objects directly.Therefore,this article put forward to carry out picking robot end actuator design and fetch feature research,in order to improve the generality and picking robot grasping stability provide effective design scheme and theoretical basis.The specific research contents are as follows:Firstly,the status of the research on the End-effectors of picking robots at home and abroad is analyzed.It is found that there is currently a lack of research on underpulvered robots in the field of agricultural picking.Therefore,based on the actual demand of the picking operation and the underactuated principle and the variable constraint mechanism,this paper designs a tendine-driven three-finger hand which has the characteristics of strong universality,simple structure and easy to control.Through the static configuration and static analysis of the fingers,the conditions for enabling the three-fingered hand to achieve stable grasping are obtained;Then,the biomechanical properties of the fruits were determined by measuring the biomechanical properties of typical fruits.By analyzing the influencing factors of fruit biomechanical properties in mechanical picking process,a control strategy for stable grabbing of E nd-effector actuators was proposed from the perspective of reducing mechanical damage.Finally,in order to verify the stable grasping condition and the control strategy of stable grasping,In the simulation environment to establish the virtual prototype simulation actual grabbing effect fetching condition with stability control strategies and grab the simulation,to verify the correctness of the stable grasping control strategy and the feasibility of grasping conditions.The next to get the universality of the experimental prototype by grasping different objects by the experimental prototype.In the end,build a grasping system experiment platform including dexterous hand and manipulator arm.The stability grasping control strategy proposed in this paper is verified.The main innovation of this paper is to design an underactuated three fingered hand for agricultural fruit picking.The grasping force and grasping characteristics of the three fingers are analyzed.It provides a theoretical basis for grasping control of underactuated three fingered hands.