Abstract: Aiming at the problem that strawberry was difficult to realize mechanical picking because of high water content and delicate structure,a rigid flexible hybrid structure of manipulator was proposed for ridge culture.To build the pseudo rigid body model,the compliant component was taken as the multi-rigid body series system of under-actuated joint.The dynamic model of compliant component equivalent rigid body was constructed with influence coefficient method,and the simulation analysis and experimental research for dynamic characteristics of distributed compliant mechanism were carried out.The simulation result showed that the rigid flexible mixed connection mechanism with force feedback had good envelope,controllability,stability and speed characteristic,and was suitable for compliant picking of strawberry.The research on the separating device had important application value for design and optimization of strawberry and other fruits and vegetables.

Key words: strawberry picking, manipulator, rigid flexible hybrid structure, dynamics analysis, compliance control

摘要： 针对草莓形状不规则、组织娇嫩,容易受机械损伤,难以实现高效低损的机械化采摘作业的问题,提出一种刚柔混联的机械手结构。为了建立柔顺伪刚体模型,将柔顺构件等效为具有欠驱动关节的多刚体串联系统;采用影响系数法建立柔顺构件等效多刚体系统的动力学模型,对机械手柔性构件的动力学特性进行仿真分析与样机试验研究。仿真和试验结果表明,采用力反馈的刚柔混联机构具有良好的包络性、可控性、平稳性及速度特性,适合于草莓的柔顺抓取控制,该成果可为草莓等果蔬无损采摘机械手的设计及优化提供借鉴和参考。

关键词: 草莓采摘, 机械手, 刚柔混联, 动力学分析, 柔顺控制