【摘要】：為了分析機械手不同抓取控制方式對番茄造成的機械損傷。通過Burgers粘彈性模型描述番茄的變形特征,利用蠕變實驗獲得番茄樣本的粘彈性參數(shù)。選擇勻減速、先勻速后減速以及變減速作為3種典型的抓取控制方式,并利用一次函數(shù)、巴特沃斯幅度平方函數(shù)和指數(shù)函數(shù)3種函數(shù)曲線描述末端執(zhí)行器實際抓取過程中不同抓取控制方式的速度變化。在此基礎(chǔ)上,對番茄塑性變形進行求解,分析在抓取時間一定時,不同抓取控制方式下番茄的塑性變形規(guī)律,并以最小塑性變形為依據(jù),確定最優(yōu)的抓取策略。結(jié)果表明:抓取控制方式3為最優(yōu)抓取控制方式,當抓取速度v0=1 mm/s,抓取時間t0=1 s時,產(chǎn)生的最小塑性變形最小,紅熟前期和紅熟中期番茄的最小塑性變形分別為0.002 6 mm和0.009 8 mm。以抓取控制方式3進行抓取控制實驗,實驗數(shù)據(jù)和理論數(shù)據(jù)的吻合度較高,決定系數(shù)R2為0.99,驗證了抓取控制方式3作為最優(yōu)抓取控制方式的合理性和可行性,為優(yōu)化機械手抓取過程提供了參考。
[Abstract]:In order to analyze the mechanical damage caused by different grasping control methods of manipulator on tomato. The deformation characteristics of tomato were described by Burgers viscoelastic model, and the viscoelastic parameters of tomato samples were obtained by creep experiment. Select uniform deceleration, first uniform speed, then deceleration and variable deceleration as three typical grasp control methods, and use one-time function. Butterworth amplitude square function and exponential function are three kinds of function curves to describe the speed changes of different grabbing control modes in the actual grabbing process of the end-effector. On this basis, the plastic deformation of tomato is solved, and the law of plastic deformation of tomato under different grabbing control mode is analyzed when the grabbing time is fixed, and the optimal grabbing strategy is determined according to the minimum plastic deformation. The results show that the grab control mode 3 is the optimal grab control mode, and the minimum plastic deformation is the smallest when the grabbing speed v0 / 1 mm/s, capture time t0 / 1 s. The minimum plastic deformation of tomato was 0.002 6 mm and 0.009 8 mm. in the early and middle stages of red ripening, respectively. The capture control experiment was carried out with the capture control mode 3. The agreement between the experimental data and the theoretical data was high, and the coefficient of determination was 0.999. The rationality and feasibility of the grab control mode 3 as the optimal grab control mode were verified. It provides a reference for optimizing the grasping process of manipulator.
【作者單位】： 南京農(nóng)業(yè)大學江蘇省智能化農(nóng)業(yè)裝備重點實驗室;
【基金】：國家自然科學基金項目(31471419) 教育部博士點基金博導類項目(20130097110043)
【分類號】：TP241

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