Design And Research Of Sea Cucumber Capturing Polyhedron Manipulators

In recent years,sea cucumber has entered the market with its unique nutritional value,and the breeding industry has gradually expanded,but the cumbersome capture process is troublesome.At present,most methods of sea cucumber capture are artificial capture,which is low in efficiency and potentially dangerous.Therefore,this paper develops a capture robot for the problem of sea cucumber captureFirstly,the living habits of sea cucumbers are investigated,and the research status of related fields is compared and analyzed.Combining the characteristics of sea cucumbers and the environment of capture,innovatively proposes the capture claws with Archimedes polyhedron as the basic configuration,and 13 The Archimedes polyhedron is disassembled and analyzed,and its polyhedron is divided into three parts top surface,branch chain and bottom surface.According to the design requirements,three kinds of qualified polyhedrons,namely a truncated cube,a truncated octahedron and a large oblique truncated half cube are selected.The design and analysis of the three polyhedrons are carried out,and the input member,the branch and the bottom surface are designed respectively.The configuration of the entire polyhedral capture manipulator is finally determined,and the configuration of the polyhedron capture claw is determined according to the application background of the sea cucumber capture size.Analyze the designed capture robot configuration,draw a mechanical sketch,perform kinematic analysis and dynamic analysis respectively,and build a virtual prototype in Adams for simulation,which can realize the expansion and closure of three kinds of capture robots.The displacement curves,velocity curves,acceleration curves and motion trajectories of the input components of the three capture robots and the capture bottom surface are compared and analyzed.The motion characteristics of the three capture claws and the adaptive applications are summarized.The engineering design of the large oblique half-cube capture claws,including the implementation of the motion pair,the fixed connection method,the selection and control of the motor,is used to create a large oblique half-cube gripper prototype using 3D printing.The assembly and experiment of the prototype can be controlled by the switch to capture the opening and closing of the claws to achieve the capture of the targetThe innovation of this thesis lies in the design of the claws.The Archimedes polyhedron is used as the basic configuration of the capture manipulator.The symmetry is used to divide the manipulator structure,and the multi-stage transmission is realized by the four-bar mechanism in series,with the finger type.Compared with the robot,the damage to the sea cucumber is reduced,the success rate of the capture is improved,and a new idea for the design of the capture robot is provided.The research on the polyhedral capture manipulator is expected to improve the intelligence level of sea cucumber capture in China and promote the development of marine fishery intelligence in China.At the same time,the technology can continue to expand research in the fields of marine fishing and fishery capture,and has broad application prospects.