| 连续体采摘机械臂末端静态承载姿态等效模型建立与验证 |
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| 引用本文： | 王皓,高国华,夏齐霄,李炼石,任晗.连续体采摘机械臂末端静态承载姿态等效模型建立与验证[J].农业工程学报,2018,34(5):23-31. |
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| 作者姓名： | 王皓 高国华 夏齐霄 李炼石 任晗 |
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| 作者单位： | 1. 北京工业大学机电学院，北京 100124;,1. 北京工业大学机电学院，北京 100124;,2. 北京联合大学机电学院，北京 100020;,1. 北京工业大学机电学院，北京 100124;,1. 北京工业大学机电学院，北京 100124; |
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| 基金项目： | 国家自然科学基金（51675011） |
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| 摘 要： | 针对连续体采摘机械臂收获作业中末端负载时的姿态变形问题,该文提出一种求解连续体采摘机械臂末端负载姿态变形的等效方法,结合大挠度变形理论和单位力原理建立了连续体采摘机械臂负载姿态变形的标准数学模型函数,通过建立系统性多参数承载性能试验,验证了所提出的弯曲姿态变形函数模型的准确性,其误差均在7.8%范围内。分析归纳了连续体采摘机械臂在不同弯曲角参数和末端负载质量参数对模型误差的影响规律,并根据负载性能试验结果得出分析可知,连续体采摘机械臂末端负载时为50 g时,其理论模型姿态与试验姿态末端位置误差最小可至3.8%,负载质量的增加至150 g时,其误差最小可至7.2%,该研究可为连续体采摘机械臂收获作业的准确定位提供可靠的控制理论基础。
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| 关 键 词： | 农业机械 机械臂 运动控制 连续体机械臂 农业采摘 承载姿态 理论模型 |
| 收稿时间： | 2017/9/22 0:00:00 |
| 修稿时间： | 2018/1/5 0:00:00 |
Establishment and verification on static equivalent model of end load posture of continuum picking manipulator |
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| Wang Hao,Gao Guohu,Xia Qixiao,Li Lianshi and Ren Han.Establishment and verification on static equivalent model of end load posture of continuum picking manipulator[J].Transactions of the Chinese Society of Agricultural Engineering,2018,34(5):23-31. |
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| Authors: | Wang Hao Gao Guohu Xia Qixiao Li Lianshi and Ren Han |
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| Institution: | 1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China;,1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China;,2. College of Mechanical and Electrical Engineering, Beijing Union University, Beijing 100020, China,1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China; and 1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China; |
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| Abstract: | Abstract: Harvesting machinery has been the focus of agricultural equipment in recent years, especially the picking manipulator. Traditionally, the picking manipulator consists of series multi-link structure, which owns good motive performance during assignment of fruit harvesting. However, the multi-link picking manipulator is difficult to cross through the complicated agriculture environment. Thus, this paper proposes a novel continuum picking manipulator for the agricultural harvesting. The continuum picking manipulator is a novel agricultural operation robot with full flexibility and self-adaptability, which provides a good ability to complete various tasks in the complicated agriculture environment. The main structure of the continuum picking manipulator consists of 4 fiber-glass rods, several guide shelves and rubber tubes. The fiber-glass rods cross the hole of the guide shelves and rubber tubes that form slide joint, and the guide shelves are distributed among the continuum picking manipulator uniformly through the separation of the rubber tubes. The movement of the continuum picking manipulator is fulfilled by 4 servo driven modules which are composed of ball screw slipway and servo motors. The space motion and the flexibility feature are due to the combination of bending motion of the fiber-glass rods, which are achieved through controlling 4 driven modules harmoniously. Although the flexible features of the continuum picking manipulator bring the considerable dexterousness in the process of fruit harvesting, the loading posture of the continuum picking manipulator has deformed, which affects motion performance of the continuum picking manipulator due to the flexibility feature. Thus, this paper presents an innovative method to solve the problem of load posture deformation at the free end of the continuum picking manipulator. Firstly, the kinematics is obtained and the workspace is analyzed. Secondly, the continuum pick manipulator is simplified by static analysis. Finally, the theoretical model of the loading posture is set up according to the theory of large deflection and the principle of unit force. The posture function of continuum picking manipulator and the free-end coordinates can be calculated based on the presented theoretical model, and the input variables are bending angle, rotation angle, length and the load. Further, the theoretical model is verified through the systematic multi-parameter experiments by using the distortionless camera with 50 mm focal length, and the load posture error between theoretical and experimental values is no more than 7.8%. Finally, the influences of different posture parameters and the load on the model errors of the continuum picking manipulator are discussed. The error increases with the load, due to the gravity effect and the structure of the continuum picking manipulator. The maximum free end position error is 7.8% and the minimum error is 3.8%. The presented theoretical model is featured with less calculation to fit on-line real-time control of the manipulator. Furthermore, this model can extend to multi-section continuum picking manipulator with consideration of each lower section is a payload of its upper sections. |
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| Keywords: | agricultural machinery manipulator motion control continuum manipulator agriculture picking load posture theoretical model |
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