Principle Analysis and Parameter Optimization for Uuderactuated End-Effector Manipulator for Apple Picking

Yu Ya-xin, Wu Fei, Zhu Rong, Zhang Fei
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引用次数: 3

Abstract

In this paper, the mechanical structure of an underactuated end-effector manipulator for apple-picking is presented. The structure is consisted of three identical fingers which are driven by one motor. Each finger is formed by three joints which are connected with connecting bar and gears. With operation of grasp and twist executed by the driven fingers, apple-picking action completed. Mathematical model of the mechanical structure is proposed. Kinematics simulation & optimization software which have a Human-Computer Interaction interface is developed with Visual Basic visualization platform. Parameters which affect enveloping space mostly are analyzed .With processing and analyzing data which get from the software, a set of optimum structure parameters are obtained. A sample machine of the End-effector Manipulator which is used for testing purpose is designed according to the optimum structure parameters.
欠驱动苹果采摘末端机械臂原理分析及参数优化
介绍了一种欠驱动苹果采摘末端机械手的机械结构。该结构由三个相同的手指组成,由一个电机驱动。每个手指由三个关节组成,这些关节由连杆和齿轮连接。驱动手指进行抓握和扭转操作,完成摘苹果动作。提出了机械结构的数学模型。利用Visual Basic可视化平台开发了具有人机交互界面的运动学仿真优化软件。分析了对包络空间影响最大的参数,通过对软件数据的处理和分析,得到了一组最优结构参数。根据最优结构参数,设计了末端执行器的试验样机。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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