【摘要】 针对目前国内外已开发的果蔬采摘末端执行器存在的不足,结合采摘苹果的具体实际,提出了一种苹果采摘机器人末端执行器。其本体结构主要由夹持机构、切割机构、气动系统和传感控制系统等组成,并制造了样机,其机械本体质量只有1.3kg。在试验室里进行了采摘苹果试验,结果表明:该末端执行器采摘方案合理有效,总体性能可满足机器人采摘苹果的要求,采摘一个苹果只需2.3 s,对于采摘其他球状果实具有一定的通用性。更多还原

【Abstract】 Aiming at lack of the current main structure designs,combining with the specific features of picking apple,a end-effector for apple-harvesting robot was put forward.it is composed of clamping mechanism,cutting devices,pneumatic system,and sensor control system.The prototype`s weight is only 1.3kg.The experiment of apple picking proved that the picking program was reasonable and effective and its overall performance can meet the requirements of apple-harvesting robot.The end-effector needs only 2.3 s to perform actions of harvesting,which has a certain versatile for other globular fruits harvesting.更多还原