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All Hydraulic Manipulator and Hand for Agricultural Use

农业用全液压机械手和手

基本信息

批准号：
02556032
负责人：
NAMIKAWA Kiyoshi
金额：
$ 5.82万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research (B)
财政年份：
1990
资助国家：
日本
起止时间：
1990 至 1992
项目状态：
已结题

项目摘要

Hydraulic drive robot is suitable to agricultural robot, for it has advantage about power weight ratio, handling of heavy work and dust proof. Therefore all hydraulic drive manipulator and hand have been developed. Agricultural robots are requited to operate several farm works. To operate several works, one farm work must be operated certainly. Then we selected watermelon harvesting as the one. The manipulator with the hand was installed on the commercial based vehicle, and laboratory and field experiment were done.Kinematics and dynamics analysis and manipulator parameter identification were done. Further function of control device and algorithm were confirmed. As a results, the manipulator is capable of real time control and has sufficient performance about positioning as agricultural robot. To develop watermelon harvesting hand, shape and mass of watermelon were measured. The function of gripper and control system were sufficient.Watermelon harvesting robot, also, are required the function of fruit recognition and proper harvesting time decision, On the discriminate between fruit and leaves, how to combine methods using moving image processing and difference of RGB density distribution was possibility for practical use. To decide proper harvesting time in field, change of physical and wave propagation property with maturity were measured. As a results, proper harvesting time decision was difficult only by batting, because individual difference was large.

液压驱动机器人适合农业机器人，具有功率重量比、搬运重物、防尘等优点。因此开发了全液压驱动机械手和手。农业机器人需要操作一些农场工作。搞几项工作，一定要搞一项农活。然后我们选择了西瓜收获。将手部机械臂安装在商用车上，进行了实验室和现场实验，进行了运动学和动力学分析以及机械臂参数辨识。控制装置和算法的进一步功能得到确认。因此，该机械手具有实时控制能力，并且具有足够的农业机器人定位性能。为了开发西瓜采摘手，测量了西瓜的形状和质量。夹具和控制系统的功能已经足够了。西瓜采摘机器人还需要具有水果识别和适当的采收时间决定的功能，在水果和叶子的区分上，如何将运动图像处理和RGB密度分布差异的方法结合起来才有实际应用的可能性。为了确定适当的田间收获时间，测量了物理和波传播特性随成熟度的变化。结果，由于个体差异很大，仅通过击球很难决定正确的收获时间。