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.

摘要：The article is to study the development of computer-aided design of X-ray microtomography—the device for investigating the structure and construction of three-dimensional images of organic and inorganic objects on the basis of shadow projections. This article provides basic information regarding CAD of X-ray microtomography and a scheme consisting of three levels. The article also shows basic relations of X-ray computed tomography, the generalized scheme of an X-ray microtomographic scanner. The methods of X-ray imaging of the spatial microstructure and morphometry of materials are described. The main characteristics of an X-ray microtomographic scanner, the X-ray source, X-ray optical elements and mechanical components of the positioning system are shown. The block scheme and software functional scheme for intelligent neural network system of analysis of the internal microstructure of objects are presented. The method of choice of design parameters of CAD of X-ray microtomography aims at improving the quality of design and reducing costs of it. It is supposed to reduce the design time and eliminate the growing number of engineers involved in development and construction of X-ray microtomographic scanners.