CAJ | 학술논문

为了提高苹果的采摘效率、降低采摘过程的漏采率和破碎率,设计了一种新的六自由度的采摘机械手. 该机械手可以完成夹紧、旋转、俯仰、摇摆及回转动作,通过神经网络迭代学习算法,可以有效地控制机械手的运动轨迹,提高采摘过程的自动化程度. 为了验证六自由度机械手对苹果采摘的有效性和可靠性,对机械手进行了苹果采摘测试,并使用脉冲神经网络 PID 调节的方式调节轨迹控制误差. 通过测试发现:该机械手的误差较小,可以有效地完成采摘作业,且漏采率和破碎率都很低,是一种高效的苹果采摘机械手,可以在其他果蔬采摘作业中进行设计和推广.
위료제고평과적채적효솔、강저채적과정적루채솔화파쇄솔,설계료일충신적륙자유도적채적궤계수. 해궤계수가이완성협긴、선전、부앙、요파급회전동작,통과신경망락질대학습산법,가이유효지공제궤계수적운동궤적,제고채적과정적자동화정도. 위료험증륙자유도궤계수대평과채적적유효성화가고성,대궤계수진행료평과채적측시,병사용맥충신경망락 PID 조절적방식조절궤적공제오차. 통과측시발현:해궤계수적오차교소,가이유효지완성채적작업,차루채솔화파쇄솔도흔저,시일충고효적평과채적궤계수,가이재기타과소채적작업중진행설계화추엄.
In order to improve the apple picking efficiency, reduce the process of picking the leakage recovery rate and broken rate, it designed a new six degrees of freedom of the picking manipulator.The manipulator can complete clam-ping, rotating and pitching, rolling and rotary motion.Through neural network iterative learning algorithm, it can effec-tively control the manipulator trajectory, improve the picking process automation.In order to verify the six degree of free-dom manipulator of apple picking the validity and reliability, the manipulator apple were picking test, and the use of pulse neural network PID regulating mode to adjust the trajectory error control.Through the test found that high precision error of the manipulator can be effectively complete picking, and loss rate and broken rate is very low, which is an effi-cient apple picking manipulator, design and promotion in other fruit and vegetable harvesting.