Authors

Abstract

Aiming at the difficult problem of contact sampling of plant in complex geographical environment, a remote-controlled sampling method using an Unmanned Aerial Vehicles (UAV) is proposed. After configuration, mechanism parameter analysis & optimization, and dynamic analysis, a special lightweight sampling manipulator that integrates plant stem-and-leaf sample capture, cutting and storage is designed. The designed sampling manipulator is composed of a ball screw nut transmission pair and a symmetrical double-offset slider rocker. The minimum transmission angle of the rocker is 63.435°, the maximum opening displacement of the manipulator claw is 131 mm, and the cutting pressure is 226 N. Tests and experiments show that the sample manipulator has a mass of 2.35 kg, a cutting pressure of 214 N, and a maximum open displacement of the manipulator claws of 126 mm. It can be controlled locally or remotely using a UAV to grab, cut and storage plant samples with a diameter greater than 5 mm. The reliability of the sampling manipulator design and the feasibility of the sampling method are verified.

Abstract in Chinese

针对复杂地理环境下植物样本接触式取样作业困难的问题，提出了一种基于无人机平台、可远程操控的取样系统。通过构型、机构参数分析与优化及动力学分析，设计了一款集植物茎叶样本抓取、切割与收贮一体化专用轻巧的取样机械手。设计的取样机械手由滚珠丝杠螺母传动副和对称双偏置滑块摇杆串联构成，摇杆最小传动角63.435°，机械手爪最大张开位移131mm，切割压力226N。经测试和试验表明，取样机械手样机质量2.35Kg，切割压力达214N，机械手爪最大张开位移为126mm，能在本地或基于无人机平台远程操控，进行样本茎秆直径的抓取、切割与收贮一体化采集作业，验证了取样机械手设计的可靠性与取样方法的可行性。