| Aiming at the problems of small scope of application,poor human-computer interaction and large damage to fruits and vegetables of traditional rigid fruit and vegetable picking robots,combined with the current situation of wide planting area,large demand and no automatic picking,this paper designs a pneumatic flexible crab apple picking robot to realize automatic non-destructive picking of crab apples.Combined with the analysis of crab apple characteristics,the overall scheme of pneumatic flexible crab apple picking robot is designed.The structure design of the soft picking manipulator was carried out,and its rationality was verified through simulation experiments.The length calculation model of the picking manipulator was constructed,and its structural design and kinematics analysis were analyzed.According to the needs of automatic picking,the control system of the soft picking manipulator is designed;The software picking manipulator device was trial-produced,and a picking robot test platform was built to conduct a six-finger wrapping test study on crab apples to verify its effectiveness.According to the analysis of crab apple characteristics,the overall design scheme of crab apple picking robot is determined.Through the epidermal pressure resistance experiment and the crab apple and tree separation mechanics experiment,the crab apple picking requirements were determined,and the overall scheme design of the crab apple picking robot was carried out.Through material analysis,the overall structure of rigid-flex coupling of soft picking manipulator was determined.According to the size data of the bunches of crab apples and the design criteria of the soft picking manipulator,the structure of the soft picking manipulator was preliminarily designed.The soft fingers and rigid skeleton of the soft picking manipulator were experimentally studied,and the structure of the soft picking manipulator was determined through comparative analysis of the experimental results.Taking Longfeng fruit as an example,a calculation model of soft finger bending angle is established to determine the bending angle of a single finger.Through tensile test,ABAQUS finite element simulation experiment and inflatable pressurization experiment,combined with the analysis of experimental results,the production materials and structure of soft fingers were determined.The soft finger was trial-produced,and the inflatable bending experiment,the end output force experiment,the three-finger simulation grasping experiment and the dynamic capture experiment were carried out to verify the validity of the simulation results and the rationality of the soft finger structure.The structural design and scheme comparison analysis of the rigid skeleton were carried out to determine the rigid skeleton structure.Through the study of the shape closure and force closure of the soft picking manipulator,the rationality of the structure of the soft picking manipulator is verified.According to the requirements of the whole crab apple tree,the structural design and motion analysis of the picking robot of the crab apple picking robot were carried out.According to the measurement data of the fruiting height of crab apple trees,the calculation model of the length of the picking robotic arm was established.Combined with the design requirements of the manipulator,the structure of the picking manipulator is designed,its kinematic equation is established,and the motion space of its end is verified and mapped out by MATLAB,and the results show that the picking manipulator can meet the whole picking of crab apple trees.In order to realize automatic picking,the control system of the soft picking robot is designed.Combined with the control requirements,the hardware and software design of the control system of the soft picking manipulator,draw its control schematic diagram,and select the pneumatic components and PID parameters;Lab VIEW was used to simulate and analyze the motion control of the software picking manipulator,and the optimal PID control parameters were determined through the comparative analysis of the simulation results by using the trial method.The software picking manipulator device was trial-produced,and a picking robot test platform was built to carry out six-finger wrapping test research on crab apples and other spherical fruits.The test results show that the pneumatic flexible crab apple picking robot can not only successfully pick the bunches of crab apples(success rate is 90%),but also realize the picking of spherical fruits such as apples,pears and oranges,which has a certain degree of versatility and provides new technical ideas for the design and research of fruit picking robots. |
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