Design of a flexible end-effector based on characteristics of tomatoes

作     者：Kehong Zhou Liru Xia Jun Liu Mingyan Qian Jie Pi 

作者机构：Institute of Agricultural EngineeringJiangsu UniversityZhenjiang 212001China Institute of Agricultural Facilities and EquipmentJiangsu Academy of Agricultural SciencesKey Laboratory of Protected Agriculture Engineering in the Middle and Lower Reaches of Yangtze RiverMinistry of Agriculture and Rural AffairesNanjing 210014China 

基　　金：This work was supported by Jiangsu Agricultural Science and Technology Innovation Fund(CX(21)1007) 

出 版 物：《International Journal of Agricultural and Biological Engineering》 (国际农业与生物工程学报（英文）)

年 卷 期：2022年第15卷第24期

页      码：13-24页

摘      要：The end-effector is the last executing part of the interaction between robots and *** this study,the physical characteristics of tomatoes and the tomato end-effector of the fluidic elastomer actuator type were *** was no correlation between the test point,the mass,the size and the rupture force of *** non-destructive clamping force of tomatoes was 11.13 *** were statistically significant correlations between the number of finger chambers,the transverse diameter of tomatoes,the inflation pressure and the clamping *** inflation pressure and the size of tomatoes were directly proportional to the clamping *** fingers with more chambers had higher flexibility,the number of chambers was inversely proportional to the slope of the horizontal force-pressure curve,and the number of chambers was directly proportional to the angle between the total clamping force and the horizontal direction.A flexible end-effector was designed by genetic algorithm according to the physical characteristics of tomatoes and the simulation results of the finger of the *** test results of the end-effector showed that the tomatoes would be successfully clamped by the end-effector composed of three four-chamber fingers in a static situation with the inflation pressure less than the optimized inflation pressure(28.293 kPa).When in a dynamic situation,the success rate of tomatoes being clamped by the end-effector with an inflation pressure of 29 kPa was 97%.The tomatoes in the static clamping test and the dynamic clamping test were not damaged.

主 题 词：end-effector fluid elastomer actuator non-destructive flexible genetic algorithm characteristics of tomatoes 

学科分类：02[经济学] 0202[经济学-财政学类] 0201[经济学-经济学类] 020204[020204] 020203[020203] 020101[020101] 

核心收录：

D　O　I：10.25165/j.ijabe.20221502.6672

馆 藏 号：203111726...