夹剪式采摘成串果实的激振特性与防振动脱落研究

项目名称： 夹剪式采摘成串果实的激振特性与防振动脱落研究

项目编号： No.51475212

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 刘继展

作者单位： 江苏大学

项目金额： 80万元

中文摘要： 果梗夹剪是机器人采摘成串果实的通用方式，但果实的振荡脱落成为实现快速采摘作业的瓶颈难题。拟以葡萄与番茄为对象，对取果阶段源于高速冲击/指-梗偏差/夹-剪不协调的偏差性激励，移送阶段源于机械臂各电机运动/关节间隙及柔性/末端运动不平滑的可控性和可补偿性激励进行分析辨识；建立果-梗系统的多连杆-黏弹铰链-质量块模型，探明其在上述激振下的动力学响应和果实脱落概率关系；以高效率、低脱落为目标，针对取果偏差性激励进行激光扫描-机器视觉结合的穗梗-手爪精确定位与夹剪协调控制，针对移送的可控性和可补偿性激励分别进行急动度连续的运动规划与负脉冲非时变输入整形-传统输入整形的结合控制，从而有效削减振动激励，解决快速夹剪采摘成串果实的振荡脱落问题。本课题将揭示多源非周期性激励下的果穗系统振荡机制并提出快速防脱落采摘方案，从而为推动果实机器人采摘技术走向实际应用提供技术基础，具有重要的理论价值和显著的实际意义。

中文关键词： 农机；机器人；采摘；振动；防脱落

英文摘要： Stem-gripping/cutting is regular way for robotic cluster harvesting, but fruit drop by vibration has become a key issue to perplex high-speed operation. So grape and tomato clusters will be select as research objects,and excitation characteristics in fruit detachment and tranportation will be analysed , which refers to: (1)deviation excitation caused by impact force,deviation between fingers and stem and discordance between gripping and cutting motion;(2)controllable excatation caused by unsmooth trail and motor vibration of manipulator;(3)compensable excitation caused by joint clearance and flexibility of manipulator. And then fruit-stem system will be modelled as multirod-elastico-viscous joint-mass system, whose response to the above different excition and probability of fruit drop will be found. At last, high-speed and less- fruit-drop robotic harvesting will be achieved by taking different measures to reduce the vibration of clusters, which includes: (1)accurate positioning of stem and gripper based on machine vision and laser scan together with gripping/cutting coordination control to reduce the deviation excitation in gripping/cutting;(2) motion plan to guarantee Jerk continuity to reduce controllable excitation in transportation;(3)negative-pulse time varying input shaping control together with tradtional input shaping control to reduce compensable excitation in transportation.This research will discover the vibration mechanism of fruit-stem system under aperiodic multisource excitation and present solution for high-speed less-fruit-drop robotic harvesting.It is valuable in both theoretical research and practical operating.

英文关键词： agricultural machinery;robot;harvest;vibration;fruit drop aviodance