Authors

Abstract

In order to solve the problem of poor flexibility of existing picking manipulators, a picking manipulator with a wrist joint has been designed, the wrist is capable of rotating 45° forward and backward around the x and y axes. Firstly, ANSYS was used to simulate the performance of different hoses under different conditions, and finally a 4*6 mm PVC hose was selected to replace the internal cardan joint as the transmission component. Secondly, the wrist structure was optimised using genetic algorithm to reduce the tendon rope variation differences to 0.31 mm and 0.24 mm. Finally, the results of orchard picking experiments indicate that the end-effector rotation of 720° can ensure that the fruit stalks can be unscrewed, the time required to complete the picking is 1.6 s, and the overall picking success rate was 100%. After 9 days of placing the harvested fruit, both the flesh and skin are intact, indicating that the manipulators can complete the non-destructive picking operation.

Abstract in Chinese

为了解决现有采摘机械手灵活性差的问题，设计了一种带有腕部关节的采摘机械手，其腕关节可绕 x 轴和 y 轴正负旋转 45°。首先，使用 ANSYS 对不同软管在不同工况下的性能进行了仿真，最终选择了 4*6mm 的 PVC 软管代替内部万向节作为传动部件。其次，利用遗传算法对腕部结构进行优化，将腱索的变化量差值缩小到 0.31mm 和 0.24mm。最后，果园采摘实验结果表明，末端执行器旋转 720°可确保拧断果柄，完成采摘所需的时间为 1.6 秒，整体采摘成功率为 100%。采摘的果实放置 9 天后，果肉和果皮都完好无损，表明机械手可以完成无损采摘操作。