| 单驱双夹式草莓末端执行器设计 |
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| 引用本文： | 张曼,徐瑞峰,冯青春,王秀,赵春江.单驱双夹式草莓末端执行器设计[J].农机化研究,2019(6):93-97,103. |
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| 作者姓名： | 张曼 徐瑞峰 冯青春 王秀 赵春江 |
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| 作者单位： | 西北农林科技大学机械与电子工程学院;北京农业智能装备工程技术研究中心;农业部农业信息技术重点实验室;农业智能装备技术北京市重点实验室 |
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| 基金项目： | 国家自然科学基金项目(61703048);北京市优秀人才培养资助青年骨干个人项目(2015000020060G134) |
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| 摘 要： | 针对温室高架栽培草莓自动化采收需要,设计了一种单驱双夹式采摘末端执行器。该末端执行器采用单气缸驱动,通过在剪短果柄的同时夹持近果实端果柄的方式完成草莓果实采摘,结构紧凑、控制方便、且通用性好。通过对草莓果实生长形态参数和果柄力学参数的测量分析,优化设计了采摘末端执行器结构模型,并对其果柄夹持和剪切性能进行力学模型验证。
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| 关 键 词： | 草莓 采摘 末端执行器 单驱双夹 |
Design of Single-drive Dual-clip Strawberry end Effector |
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| Zhang Man,Xu Ruifeng,Feng Qingchun,Wang Xiu,Zhao Chunjiang.Design of Single-drive Dual-clip Strawberry end Effector[J].Journal of Agricultural Mechanization Research,2019(6):93-97,103. |
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| Authors: | Zhang Man Xu Ruifeng Feng Qingchun Wang Xiu Zhao Chunjiang |
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| Institution: | (College of Mechanical and Electronic Engineering, Northwest A&F University, Yanling 712100, China;Beijing Research Center of Intelligent Equipment for Agriculture, Beijing100097, China;Key Laboratory of Agri-informatics, Ministry of Agriculture, Beijing 100081, China;Beijing Key Laboratory of Intelligent Equipment Technology for Agriculture, Beijing 100097, China) |
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| Abstract: | Aiming at the need of automated harvesting of greenhouse elevated strawberry, a single-drive and double-holding picking end effector was designed. The end effector adopts a single-cylinder drive to finish picking strawberry By holding the fruit stems which close to the strawberry, which is compact in structure, convenient in control, and good in versatility. By measuring and analyzing the growth morphological parameters and mechanical parameters of the fruit stems, the structural model of the actuator at the end effector was optimized, and the mechanical model of the gripping and shearing performance of the stems was verified. |
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| Keywords: | strawberry picking end effector single drive and double holding |
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