Development of Light-weight manipulator for Agriculture

轻型农业机械手的研制

• 批准号: 08456126
• 负责人: IIDA Michihisa
• 金额: $ 4.54万
• 依托单位: KYOTO UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08456126/
• 关键词: light-weight manipulator; mobile robot; hydraulic actuator; closed-link mechanism; passive hand; 駆動冗長性; 仮想木構造

The object of this research is the development of a light-weight manipulator for agriculture. It requires that agricultural robot in the open field is high power and light weight in order to handle heavy matters and move easily. Therefore, the manipulator and the end effector need to be light. In this research we have developed the manipulator and the end effector for harvesting watermelon. The end effector consists of four fingers, which are not actuated. It opens the fingers with tracing on the surface of watermelon. We call it 'passive type gripper'. The permissible position error and the contact force between the gripper and watermelon were measured. As the result, it was confirmed that the end effector can grasp watermelon with the position error. The manipulator has a parallelogrammic linkage and Roverval mechanism. Its working space is 2.8m and the weight capacity is 150N.Three joints of manipulator are driven by hydraulic actuators and DC servo motor. The positioning test of manipulator was done. As the result, It was found that the manipulator had the sufficient accuracy for harvesting watermelon using the passive type gripper.

本研究的目的是研制一种轻型农业机械臂。它要求农用机器人功率大、重量轻，才能搬运重物，便于移动。因此，机械手和末端执行器需要轻巧。本课题研制了西瓜收获机械手和末端执行器。末端执行器由四个手指组成，它们不被驱动。用手指在西瓜表面划开。我们称它为“被动式抓手”。测量了夹持器的允许位置误差和夹持器与西瓜的接触力。结果表明，在存在位置误差的情况下，末端执行器能够抓取西瓜。该机械手具有平行四边形连杆机构和回转机构。工作空间2.8m，承重150N。机械手的三个关节由液压执行机构和直流伺服电机驱动。对机械手进行了定位试验。结果表明，该机械手采用被动式夹持器进行西瓜收获具有足够的精度。

项目成果

M.IIDA,K.NAMIKAWA: "Study on Light-weight manipulator" Proceedings of the 56^<th> annual meeting of Japanese Society of Agricultural Machinery. 311-312 (1997)

M.IIDA，K.NAMIKAWA：“轻型机械手的研究”日本农业机械学会第56届年会论文集。

飯田訓久,並河 清: "軽量マニピュレータの研究" 日本農業機械学会第56回年次大会で発表予定. (1997)

Norihisa Iida、Kiyoshi Namikawa：“轻型机械手的研究” 计划在第 56 届日本农业机械学会年会上发表（1997 年）。

S.SAKAI,M.IIDA,M.UMEDA: "Heavy Vegitable Harvesting Robot" Proceedings of ROBOMEC'99. 2A1-03-049 (1999)

S.SAKAI、M.IIDA、M.UMEDA：“重型蔬菜收获机器人”ROBOMEC99 论文集。

飯田訓久, 並河清: "軽量マニピュレータの研究" 第56回農業機械学会年次大会講演要旨. 311-312 (1997)

Norihisa Iida、Kiyoshi Namikawa：“轻型机械手的研究”日本农业机械学会第 56 届年会摘要 311-312（1997 年）。

酒井悟, 飯田訓久, 梅田幹雄: "重量野菜収穫ロボットの研究" 日本機械学会ロボメック講演会ROBOMEC′99. 発表予定. (1999)

Satoru Sakai、Norihisa Iida、Mikio Umeda：“重型蔬菜收获机器人的研究”日本机械工程师学会 ROBOMEC99 预定演讲。