Design Ontimization And Experimental Study Of A Flexible Gripper For Picking Robot

Picking is an important link in fruit production,which directly affects the quality and production cost of fruit.Its production process has the characteristics of strong time constraints,high labor intensity,and high production costs,so it needs to invest a lot of manpower,material resources,and energy in the actual picking process.At present,with the world population aging,a labor shortage has become an established fact.Therefore,the traditional way of production and picking has been unable to meet the needs of modern agricultural production.Picking robots are widely used in the picking industry,but the picking robot is also faced with many problems,such as the fact that the scope of the picking mechanical gripper is small,the fruit is not fast or easy to fall off,there are skin scratches,and other problems.Based on the bionics principle,this paper designs a flexible gripper with strong adaptive ability,high wrapping performance,and high security.Specific research contents and conclusions are as follows:Structure and design of a flexible gripper.The apple was selected as the target for grabbing,and the texture analysis was carried out.The maximum pressure that the apple could withstand was 115 N without damaging the skin or inner flesh.The number of fingers in the flexible gripper is determined.By analyzing the influence of different numbers of fingers on grasping stability,the number of fingers in the flexible gripper is determined to be 3.The pneumatic drive is selected as the driving source of the flexible gripper.According to the analysis of grasping internal force,the conditions of grasping an apple stably are put forward.Based on bionics principles and SOLIDWORKS software,the 3D model of the flexible gripper finger and the connecting parts are designed.The strength check analysis was used to determine polyurethane as the material for the flexible gripper,and a 2 mm thick rubber gasket was added.Structure optimization of a flexible gripper.Aiming at the design of the flexible gripper,the finite element workbench software was used to analyze its performance and simulate the deformation caused by the contact between the flexible finger and the apple.In order to facilitate calculation,the structure is simplified by using small balls instead of apples.Here,a unique method of measuring the surface area was created by comparing its maximum stress and contact area with the ball to determine the structure of the flexible finger beam with an angle of 90° from the vertical direction and an angle of 80° from the base angle.A prototype flexible gripper was made using 3D printing technology.Dynamic simulation of a flexible gripper.On the premise of stable grasping,the relation between the grasping force 2 of the flexible gripper and the cylinder thrust 1 is 2=0.111 through theoretical mechanics analysis.ADAMS dynamic simulation software was used to simulate the rigid-flexible coupling dynamics of the object grasped by the flexible gripper.The simulation analysis results show that the flexible gripper runs smoothly when grasping apples;the speed is stable at 20 mm/s,and the grasping force is stable at about 20 N.By comparing the grasping stability under different air pressures,it can be concluded that,without affecting the economic benefits,the pressure can be properly reduced to ensure the grasping stability.The relation between gripping force and cylinder thrust is 2= 0.1331.The absolute error is 0.023.Experimental study of a flexible gripper Taking the ER6-730-MI robot arm as the main body,the apple-picking robot platform was built.It mainly includes the construction of the manipulator control system,the design of the pneumatic circuit,and the establishment of the communication protocol between the upper position and the flexible gripper by using programming software.Determine the picking posture and picking action of the mechanical arm.The test results show that,under the premise of knowing the maximum pressure that apples can bear,the apples can be picked effectively by adjusting the air pressure to complete the non-destructive grabbing,and the picking methods of twisting and breaking can be adopted.