水果采摘装置的设计 毕业设计

摘要：本文主要对一种水果采摘装置进行了初步的设计。这个装置是一个仿生的采摘机器人的机械手。该装置必须依附于新型的苹果采摘机器人，仿生机械手主要使用合适的钢丝作为传动链将装置的驱动部位和执行部位分开，将驱动部分放于机械手臂的尾部，目的在于减轻机械臂的质量，也大大增加了所需要用到的驱动电机的可选择的范围。

首先，对仿生采摘机械手的整体设计进行了查阅资料和确定设计方案。在确定方案的过程中修改优化了两次，最终确定为仿生机械手装置；其次，设计计算并对装置进行三维建模，绘制出零件图然后装配。最后利用有限元分析软件进行力学分析，采用3D打印技术对零件进行了加工，人工装配，制造出了设计的实物。

此次的采摘机械手设计方案经研究合理有效，符合任务要求，它的整体性能可以满足新型机器人采摘苹果的所需采摘装置。

关键词：苹果采摘机器人；仿生机械手；机械设计

Design of Fruit Picking Device

Abstract：In this paper, a kind of fruit picking device is designed. The device is a biomimetic hand for picking a robot. The device must be attached to a new type of Apple picking robot. It mainly uses steel wire as a transmission chain to separate the drive part from the execution part, and the drive part is placed on the tail part, reducing the quality of the robot arm. The range of options for the required drive motor has also been increased.

Firstly, the overall design of the Bionic picking manipulator is reviewed and the design scheme is determined. Secondly, the device is modeled in three dimensions, the parts are mapped and assembled. Finally, using software for mechanical analysis and then using 3D printing technology, the parts were processed, manually assembled, and the designed physical objects were produced.

This picking scheme is reasonable and effective, and its overall performance can meet the requirements of the new robot to pick apples.

Key words: Apple picking robot; Bionic manipulator; Mechanical design

目录

摘要....................................................................................................... I

Abstract................................................................................................. II

1.绪论................................................................................................... 1

1.1 课题背景及目的................................................................... 1

1.2国内外采摘机器人研究进展................................................ 1

1.3主要内容和研究方法............................................................ 2

1.3.1 主要研究内容............................................................ 2

1.3.2主要研究方法............................................................. 2

1.4本章小结................................................................................ 2

2.采摘装置仿生机械手的设计........................................................... 3

2.1新型农业采摘机器人的特点................................................ 3

2.2水果采摘机器人设计中存在的问题和解决方案................ 3

2.3采摘方式和分离方式的选择................................................ 4

2.3.1采摘方式的选择......................................................... 4

2.3.2分离方式的选择......................................................... 6

2.4仿生机械手的总体结构设计................................................ 7

2.4.1苹果采摘方式分析..................................................... 7

2.4.2总体设计..................................................................... 7

2.5手指结构设计........................................................................ 8

2.5.1手指数量..................................................................... 8

2.5.2手指关节数量............................................................. 9

2.5.3手指的材料选择......................................................... 9

2.6机架的设计.......................................................................... 10

2.7驱动方案的选择.................................................................. 10

2.8本章小结.............................................................................. 11

3.仿生机械手静力学分析................................................................. 12

3.1 手指的工作原理................................................................. 12

3.2 抓取时的静态力学模型..................................................... 12

3.3 运动学分析......................................................................... 15

3.4手部的夹持误差计算.......................................................... 15

3.5本章小结.............................................................................. 18

4.仿生机械手3D建模及重要零件的有限元分析........................... 19

4.1 软件概述............................................................................. 19

4.2机械手的虚拟设计与装配.................................................. 19

4.2.1模型的建立............................................................... 19

4.2.2装配........................................................................... 22

4.3  重要零件的有限元分析................................................... 23

总结.................................................................................................... 24

参考文献............................................................................................ 25

致谢.................................................................................................... 27

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