Vol.1,No.1高国华等院基于3D打印的柔性机械手研制及试验研究
95
Developmentandtestofaflexiblemanipulator
basedon3Dprinting
GuohuaGao,ZengyaDong,XiaonaSun,HaoWang
渊
100124
Withthedevelopmentofcomputerandautomationcontroltechnology,robotshavegraduallyenteredthefieldof
agriculturalproduction.Theapplicationofagriculturalrobotscanimprovelaborproductivity,productqualityandworking
conditions,solvetheproblemoflaborshortage,andpromotetheintellectualizationofagriculturalproductionprocess.Fruit
harvestingisthemosttime-consumingandlaboriouspartofagriculturalproduction.Sincetheskinoffruitisrelativelyfragile,itis
easytocausedamageintheprocessofgrasping.Therefore,someflexibilityisnecessaryforthegraspingdevice.Astheendofthe
picking,robotdirectlyactsonthepartofthegraspingobject,themanipulatorhasattractedmoreandmoreattentionofscientific
researchersbecauseofitslightweight,smallsize,lowenergyconsumption,highflexibilityandlowcost.Manipulatoristhecore
componentofrobot,whichisinstalledontheendofpickingrobotandactingontheobjectdirectly.Inordertoimprove
universalityandflexibility,reducethedamagetothefruits,andshortenthedesigncycle,theflexiblemanipulatorwithsimple
structureandself-adaptivefunctionwasdesignedtoachievefavorablegraspoffruits.Themanipulatordevelopedbasedon3D
printinghastheadvantagesofrapidprototyping,lowexperimentalcostandeasytoassemble,etc.Flexiblemanipulatorconsistsof
flexiblefinger,wrist,baseandpneumaticcomponents.Itsgeneralactionprocessisopening,grasping,moveingandputtingdown.
However,flexiblemanipulatorcombinesthetwoprocessesofmovingandputtingdownintoswallowing,whichreducesthe
executionofthemotionandimprovesthegraspingperformanceandefficiencyofthemanipulator.Pneumaticcomponentsand
wristwereprintedfromflexiblematerialsandthematerialisthermoplasticurethaneandpolylacticacidrespectively.Thewristis
anintegralpartwithflexibility.Theuseofpneumaticcomponentscanachievethewristbending,drivingflexiblefingers
self-adaptivedeformationtograspthefruit.Themanipulatorisplacedontheverticalslidingplatformofthefour-wheelplatform,
whichcanmoveupanddown,andthefour-wheelplatformcanmovefreelyinalldirections.Thesinglewristhastworotational
degreesoffreedom.ThekinematicsmodelofsinglewristwasestablishedbycombiningconstantcurvaturedeformationandD-H
coordinatemethod.Onthisbasis,thefunctionalvalidationtestandsafetytestofflexiblemanipulatorwerecarriedout.Inthe
safetytest,thethinpressuresensorwasusedasthedetectionelementofthecontactforcesignalbetweenthefingerandthe
graspingobject.Theexperimentresultsshowthatthepneumaticcomponentsoftheflexiblemanipulatormeetthedesign
requirementsandthedrivingwristisflexible.Themanipulatorhascertainflexibility,andcanadapttotheshapeofthefruitfor
self-adaptivegrasping.Theself-adaptivegraspingeffectofthemanipulatorisremarkable,andthefruitskinisintact.Moreover,
theflexiblemanipulatorhasafavorableself-adaptivefunctionbasedonthestructuraldesignandthecomplexityofthecontrol
systemisdeduced.Inaddition,itwillprovidereferenceforthedesignoftheflexiblegraspingmechanism.
flexiblemanipulator;3Dprinting;kinematics;self-adaptivefunction;contactforce |
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