The design and simulation of two joint full drive adjustable fruit and vegetable picking end-effectors
To accelerate the robots replacing humans for fruit and vegetable picking,and improving the quality and efficiency of operations,we propose the humanoid robot end-effectors for picking vegetable and fruit which has flexible movement,strong versatility and can digestive robot image recognition error.The end-effectors can be achieved with the movement similar to the thumb,index finger and middle finger of human hand.The end-effectors which have two joints is driven by two prime movers,which can better control the force act on the fruit and vegetable and reduce the damage.Mechanical analysis of the mechanism is carried out to obtain the relationship between the input driving force and the force acting on the fruits and vegetables.The simulation experiment is carried out to verify the rationality of this mechanism.
fruit and vegetable picking end-effectors full drive two joint simulation
XIA Fan SHEN Jing-hu ZHANG Min
School of mechanical and electrical engineering,Qiingdao University,Ningxia Road,Shandong 308,China
国际会议
第十七届国际制造会议(The 17th International Manufacturing Conference in China)(IMCC 2017))
深圳
英文
1-6
2017-11-23（万方平台首次上网日期，不代表论文的发表时间）