| 机器人采摘中番茄力学特性与机械损伤的关系 |
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| 引用本文： | 李智国,刘继展,李萍萍.机器人采摘中番茄力学特性与机械损伤的关系[J].农业工程学报,2010,26(5):112-116. |
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| 作者姓名： | 李智国 刘继展 李萍萍 |
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| 作者单位： | 江苏大学农业工程研究院,镇江,212013 |
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| 基金项目： | 江苏省研究生创新基金项目（CX09B-206Z）；国家自然科学基金资助项目（50905076）；江苏省教育厅基金项目（09KJD210002） |
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| 摘 要： | 为了减小机器人采摘中番茄的夹持损伤，通过加卸载正交试验对不同结构番茄力学特性与机械损伤的关系进行了研究。试验因素包括加载位置、探头类型、指面材料、压缩率和加载速度。试验结果表明：对番茄5个力学参数影响都显著且最大的因素为压缩率，并且番茄的力学特性参数之间存在一定的相关性。压缩率每增加1%，应变能、塑性应变能、峰值力和压缩斜率约分别平均增加26.16 mJ、19.04 mJ、4.62 N和0.16 N/mm，而弹性度平均减小0.88%。对番茄机械损伤度影响显著的因素依次为压缩率、球度、加载位置和加载速度。压缩率每增加1%，番茄的机械损伤度平均增加2.98%。番茄的机械损伤度与力学参数之间的回归系数为0.7214，其中与番茄机械损伤度最相关的力学参数是峰值力。该研究为采摘机器人夹持机构的设计和稳定夹持控制策略的实现提供了理论依据。
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| 关 键 词： | 力学特性，机器人，参数提取，机械损伤，番茄，小室数 |
| 收稿时间： | 2009/12/30 0:00:00 |
| 修稿时间： | 4/7/2010 12:00:00 AM |
Relationship between mechanical property and damage of tomato during robot harvesting |
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| Li Zhiguo,Liu Jizhan,Li Pingping.Relationship between mechanical property and damage of tomato during robot harvesting[J].Transactions of the Chinese Society of Agricultural Engineering,2010,26(5):112-116. |
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| Authors: | Li Zhiguo Liu Jizhan Li Pingping |
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| Abstract: | The mechanical property and damage of tomato were studied by the loading-unloading orthogonal test in order to reduce the gripped damage during robot harvesting. The factors included loading position, probe type, finger material, compressibility and loading rate. The results showed that the compressibility had the most significant effect among five mechanical parameters. Additionally, it had correlation between the mechanical parameters. When the compressibility increased by 1%, the average value of strain energy, plastic strain energy, peak force and loading slope raised 26.16 mJ, 19.04 mJ, 4.62 N and 0.16 N/mm respectively while the average value of degree of elasticity decreased by 0.88%. The factors which had significant effects on the mechanical damage of tomato were ordered as compressibility, sphericity, loading position and rate. The average value of degree of mechanical damage raised 2.89% as the compressibility increased by 1%. The regression coefficient between the mechanical properties and the degree of mechanical damage of tomato was 0.7214. The peak force had the most significant relationship with the degree of mechanical damage. This will provide some theory evidences for the design of grip system and the implement of stable gripping-control strategy in harvesting robot. |
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| Keywords: | mechanical properties robots parameter extraction mechanical damage tomato locule number |
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