CAJ | 학술논문

末端执行器是果蔬采摘机器人的另一重要部件,通常被认为是机器人的核心技术之一. 为了提高采摘机器人执行末端的工作效率,增加机器人的有效作业时间,提出了一种新的优化方法. 该方法将采摘机器人执行末端采用伺服电机控制,对机器人的电量进行实时显示,以备及时充电;对机械手在运动学上进行优化设计,采用模糊控制理论实现了执行末端输出功率和电量的模糊控制. 该设计缩短了采摘机器人执行末端的响应时间,降低了果实破损率,提高了作业的有效时间,为采摘机器人的现代化和自动化设计提供了较有价值的参考.
말단집행기시과소채적궤기인적령일중요부건,통상피인위시궤기인적핵심기술지일. 위료제고채적궤기인집행말단적공작효솔,증가궤기인적유효작업시간,제출료일충신적우화방법. 해방법장채적궤기인집행말단채용사복전궤공제,대궤기인적전량진행실시현시,이비급시충전;대궤계수재운동학상진행우화설계,채용모호공제이론실현료집행말단수출공솔화전량적모호공제. 해설계축단료채적궤기인집행말단적향응시간,강저료과실파손솔,제고료작업적유효시간,위채적궤기인적현대화화자동화설계제공료교유개치적삼고.
The end effector is fruit and vegetable picking robots is another important component , its design is generally considered to be one of the core technology of the robot .In order to improve the picking robot execution at the end of the work efficiency , increase the robot time for the effective operation of the proposed a new optimization method , which will be picking robot end effector is controlled by the servo motor , power of the robot for real-time display , to prepare for the timely charge , and manipulator in kinematics to optimize the design of the fuzzy control theory to realize the terminal out -put power and electric quantity of fuzzy control is performed .Greatly shorten the picking robot to perform at the end of the response time , and reduce the breakage rate of fruit , improve the operation time , provides a valuable reference for picking the modernization and automation design of robot .