三自由度苹果采摘机器人本体设计-计算机工程与应用.PDFVIP

Computer Engineering and Applications 计算机工程与应用 2015 ，51（23 ） 251 三自由度苹果采摘机器人本体设计 张 杰，姬长英，顾宝兴，沈子尧，董 芒 ZHANG Jie, JI Changying, GU Baoxing, SHEN Ziyao, DONG Mang 南京农业大学 工学院，南京 210031 College of Engineering, Nanjing Agricultural University, Nanjing 210031, China ZHANG Jie, JI Changying, GU Baoxing, et al. Body design of 3-DOF apple picking robot. Computer Engineering and Applications, 2015, 51 （23 ）：251-257. Abstract ：At present, most agricultural robots, are based on articulated coordinate, the applications of articulated robots in the fruit-picking are not only with complex control, but also high costs and low efficiencies. To design an agricultural picking robot with simple structure is the focus of current research. In view of the horticultural characteristics of apple cul- tivation and the shortcomings of articulated manipulator, the hardware structure of robot system is developed based on cylindrical coordinate. An open and distributed architecture based on PCMP2100 is used in the control system. The harvest- ing procedure of robot is expounded, the picking control program is compiled, the fuzzy-PID control method and a syn- chronization controller based on relative coupling strategy are also proposed. The control program and human-machine interface are programmed with C#. Some experiments are made including uniaxial debugging, multi-axis synchronized debugging and tests of CAN communication, motion-consuming and positioning accuracy which show that the average values of single moving time and motion error are 6.619 s and 4.929 mm. The design improves the positioning accuracy, reduces costs, time-consuming and increases picking efficiency compared with articulated manipulator. Key words ：harvesting robot; structure design; distributed control system; fuzzy-PID; test 摘 要：目前绝大部分应用在水果采摘上的关节型机器人控制复杂，成本高，而且采摘效率低，设计结构简单的采摘 机器人是研究的重点。针对苹果种植的园艺特点和关节型采摘机械臂的不足，设计了一套基于圆柱坐标的三自由 度苹果采摘机器人本体结构。控制系统采用基于PCMP2