New design and construction of a mechanical gripping device with a telescopic link of a fruit harvesting robot

链接(几何体) 机器人 机械设计 工程类 计算机科学 机械工程 人工智能 计算机网络
作者
Larisa Rybak,Giuseppe Carbone,Santhakumar Mohan,Elena Gaponenko,Dmitry Malyshev,Artem Voloshkin
出处
期刊:Robotica [Cambridge University Press]
卷期号:: 1-17
标识
DOI:10.1017/s0263574724001127
摘要

Abstract Gripping devices for harvesting fruits have such types of work as cutting, tearing and unscrewing. For apples, it is preferable to use slicing or unscrewing, while the fruit leg should not remain, damaging the apple during storage. In this article, we are developing a grab for harvesting apples. The gripper is used both for holding the fruit and for jamming, followed by unscrewing. One of the advantages is that the proposed method of collecting apples allows you not to waste time moving the manipulator from the tree to the basket, but only to grab and tear them off. The fruit enters the gripper device; after which it enters the fruit collection container through a rigid or flexible pipe. The gripper device is built on the basis of a ball-screw transmission, which is supplemented by a gear drive along the helical surface. This allows for rotation and rectilinear movement of the held fruit. The gripping device has a ratchet mechanism that allows you to fix the fruit. A mathematical model of the gripper device has been developed, which allows determining the torque of the engine depending on the position of the fingers. The parameters of the mechanism were optimized using a genetic algorithm, and the results are presented in the form of a Pareto set. A 3D model of the gripper device has been built and a layout has been developed using 3D printing. Experimental laboratory and field tests of the gripping device were carried out.

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