欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
为了实现果蔬的无损采摘,采用欠驱动原理设计出一种结构更简单、通用性更强的末端执行器。欠驱动机构是指驱动器数目少于机构本身自由度数目的机构,基于欠驱动原理设计的机械手结构简单可靠,抓取物体时具有形状自适应能力,手指可完全包络物体,可以通过最大接触力的闭环力反馈控制来实现无损采摘。基于这一设计思想设计出仅靠一个电动机驱动三个手指的机械手爪,通过理论分析、手爪机构设计与建模、结构参数优化,确定设计尺寸制出机械手爪,设计控制电路结合力反馈控制进行抓取试验。试验结果表明该手爪能实现期望的抓取与最大接触力控制功能,并具有控制简单可靠、抓取稳定、不损伤果实等特点。
英文摘要：
To achieve non-destructive fruit and vegetable picking, an end-actuator with a simpler and more versatile structure is designed based on underactuated principle. The underactuated mechanism refers to machine that has fewer drivers compared with the number of degrees of freedom. The robotic hand designed by adopting the underactuated principle is simpler and more reliable. Due to simple structure and better adaptability to shape of objects, the robotic hand can fold the object completely with its fingers. Non-destructive harvesting is achieved by using a closed-loop force-feedback control algorithm which controls the maximum contact forces. Based on this design idea, a three-finger gripper which is driven by only one motor is designed. Through theoretical analysis, mechanism design and modeling, and structural optimization, the final model size is determined and physical production is completed. A control circuit combined with force-feedback control is designed for grasping experiments. The experimental results show that the robotic hand can achieve the desired grasping function, maximum contact force control and has such features as simple and reliable control, stable grasping and non-damaging.
同期刊论文项目
同项目期刊论文
Safty brake performance evaluation and optimization of hydraulic lifting systems in case of overspee
ultrasonic methodology for determining the mechanical and geometrical properties of a thin layer usi
Numerical study on predicting and correcting assembly deformation of a large fuselage panel during d
A posture evaluation method for a large component with thermal deformation and its application in ai
Fabrication challenges and test structures for high？aspect？ratio SOI MEMS devices with refilled elec
Influence of interference fit size on hole deformation and residual stress in hi-lock bolt insertion
Design and analysis of an underwater inductive coupling power transfer system for AUV docking applic
A low-cost and rapid microfluidic paper-based analytical device fabrication method: Flash foam stamp
Online constrained optimization based adaptive robust control of a class of MIMO nonlinear systems w
Improving machined surface textures in avoiding five-axis singularities considering tool orientation
Human-machine interaction force control: using a model-referenced adaptive impedance device to contr
Interval multiobjective optimization of structures based on radial basis function, interval analysis
Kinematic modeling and parameter identification of a new circumferential drilling machine for aircra
A fine-interpolation-based parametric interpolation method with a novel real-time look-ahead algorit
A performance oriented multi-loop constrained adaptive robust tracking control of one-degree-of-free
Energy-saving adaptive robust control of a hydraulic manipulator using five cartridge valves with an
A cutterhead energy-saving technique for shield tunneling machines based on load characteristic pred
On-machine measurement of a slow slide servo diamond-machined 3D microstructure with a curved substr
μ-synthesis based adaptive robust control of linear motor driven stages with high-frequency dynamics
Novel pressure-resistant oil-immersed proportional actuator for electrohydraulic proportional contro
The control strategy for improving the stability of a powertrain for a compound hybrid power excavat
A Study on Dual-Stroke Pendulum Wave Energy Conversion Technology Based on a Water/Oil Integrated Tr
A spherical cavity expansion model of large elastic deformation and its application to ballistic gel
Adaptive back-stepping pitch angle control for wind turbine based on a new electro-hydraulic pitch s
Sliding mode voltage control strategy for capturing maximum wind energy based on fuzzy logic control
A novel fuzzy integral sliding mode current control strategy for maximizing wind power extraction an
Reproduction of five degree-of-freedom loads for wind turbine using equispaced electro-hydraulic act
Predictive pitch control of an electro-hydraulic digital pitch system for wind turbines based on the
Adaptive Sliding Mode Back-stepping Pitch Angle Control of a Variable-displacement Pump Controlled H
Force Feedback Coupling with Dynamics for Physical Simulation of Product Assembly and Operation Perf
Quantification for the importance degree of engineering characteristics with a multi-level hierarchi
Automatic optical phase identification of micro-drill bits based on improved ASM and bag of shape se
A novel method for fast identification of a machine tool selected point temperature rise based on an
A new error measurement method to identify all six error parameters of a rotational axis of a machin
Research on Inverse Evaluation Mechanism in Toolpath Generation Based on Global Interpolation Simula
A novel method of efficient machining errors compensation based on NURBS surface control points reco
Product-of-exponential formulas for precision enhancement of five-axis machine tools via geometric e
NC codes optimization for geometric error compensation of five-axis machine tools with one novel mat
Rapid fabrication of paper-based microfluidic analytical devices with desktop stereolithography 3D p
A low-cost and rapid microfluidic paper-based analytical devices fabrication method: Flash Foam Stam
Bioactive Glass-Reinforced Bioceramic Ink Writing Scaffolds: Sintering, Microstructure and Mechanica
Multi load-transmitting device based support layout optimization for large fuselage panels in digita
Pre-joining process planning model for a batch of skin–stringer panels based on statistical clearanc
Design and analysis of an underwater inductive coupling power transfer system for autonomous underwa
Efficiency Improvement of Underwater Midrange Inductive Contactless Power Transmission Via a Relay R
Solving position-posture deviation problem of multi-legged walking robots with semi-round rigid feet
Human-machine Interaction Force Control using Model Reference Adaptive Impedance Control for Index F
Design and validation of a lower limb exoskeleton employing the recumbent cycling modality for post-
A novel technique for the measurement of the acoustic properties of a thin linear-viscoelastic layer
Fabrication challenges and test structures for high-aspect-ratio SOI MEMS devices with refilled elec
A Mechatronic Platform for Calibration and Performance Test of Extrinsic Tactile Sensor on Prosthesi
A reliable and fast hydrogen gas leakage detector based on irreversible cracking of decorated pallad
Modeling and preliminary analysis of a miniaturized rotary motor driven by single piezoelectric stac
Asymmetric vibration characteristics of two-cylinder four-stroke single-piston hydraulic free piston
Research on Air Content Estimation of Tributyl Phosphate Hydraulic Fluids: A Novel Approach Based on
Smooth contour-parallel tool path generation for high-speed machining through a dual offset procedur
A modified analytical model to study the sensing performance of a flexible capacitive tactile sensor
An approach to improving transporting velocity in the long-range ultrasonic transportation of micro-
Closed-Double-Magnetic On the size effects in micro/meso semisolid extrusion–forging of A356 aluminu
Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbance
Compliance of hydraulic system and its applications in thrust system design of shield tunneling mach
Influence of pressure build-up of time of compression chamber on improving the operation frequency o
Operating Modes and Control Strategy for Megawatt-Scale Hydro-Viscous Transmission-Based Continuousl
Reduced lattice thermal conductivity in nanograined Na-doped PbTe alloys by ball milling and semisol
Flow manifold optimization for a uniform velocity distribution in a laminated microreactor with micr
Passage arrangement design for multi-stream plate-fin heat exchanger under multiple operating condit
Design and validation of a compatible 3-degrees of freedom shoulder exoskeleton with an adaptive cen
Real-Time Orientation-Invariant Magnetic Localization and Sensor Calibration Based on Closed-Form Mo
Safety brake performance evaluation and optimization of hydraulic lifting systems in case of overspe
期刊信息
位置：