Study On Path Optimization And Innovative Design Of End Holder For Sweet Orange Picking Manipulator

Based on the physical-mechanical characteristics of the gripper and orange of the manipulator,this paper obtains the values of the compressive parameters and the friction characteristics of the manipulator gripper and the orange.The innovative design of the gripper of the orange picking manipulator end is studied.The main contents of the pilot study are: improvement of obstacle avoidance path planning algorithm based on previous research;modeling and kinematics simulation of manipulator overall;design and parameter optimization of underactuated end clamper;underactuated finger Strong adaptive grasping function,the fruit was entrapped and grabbed,and fruits of different diameters and sizes were tested.(1)Based on previous researches,the algorithm is improved,the obstacle avoidance simulation test is performed on the constructed environment map,and the kinematics simulation test is performed on the manipulator model to obtain the speed and acceleration curves.In addition,the calculation method of clamping force and the analysis of clamping stability are analyzed theoretically.Through the test results,the influence of the finger joint parameters on the contact force is further analyzed;the stability of the finger joint in different positions is tested.influences.(2)The three-dimensional model of the manipulator's end gripper was designed by using the optimized parameter values to verify the correctness of the model and optimize the speed fluctuation of the finger joints.(3)The parameters of pressure resistance of sweet orange,the yield limit of fruit were 254 N and the coefficient of friction was 0.67.These experimental results provided an important reference for the measurement of the contact force of the gripper end of manipulator.The comparative test under different values of torsion spring stiffness parameters results in a reasonable torsion spring stiff,and the influence of different slider speeds on the contact force is studied.When the slider speed is in the range of-2*time~-4.5*time,the contact force is reasonable,and it is further found that the stable range of finger joint grabbing is 65mm~85mm.This indirectly provides an important reference for the selection of parameters such as motor power,torque,etc.It also provides a theoretical basis for follow-up studies to achieve fruit damage prevention and achieve a stable grasping function,The finite element analysis of the stress maps of the main components gives the maximum stress position and stress values..(4)The basic conclusions are as follows: The lengths of the first and the last two,the slider speed parameter value is-3.5*time.By setting these optimized parameter values,the finger joint speed and angular speed fluctuation are further significantly optimized.