Design and experimental research of pneumatic soft picking manipulator

doi:10.3785/j.issn.1006-754X.2022.00.085

Chin J Eng Design

2022, Vol. 29

Issue (6): 684-694 DOI: 10.3785/j.issn.1006-754X.2022.00.085

Innovative Design

Design and experimental research of pneumatic soft picking manipulator

San-ping LI¹(

),Teng-jia SUN¹,Long-qiang YUAN¹,Li-guo WU^1,²(

)

^1.School of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China
^2.Harbin Forestry Machinery Research Institute, State Forestry and Grassland Administration, Harbin 150086, China

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Abstract

Aiming at the problems of traditional rigid picking manipulators, such as small scope of application, poor environmental adaptability and great damage to fruits and vegetables, a rigid-flexible coupling pneumatic soft picking manipulator for crabapple picking was designed. According to the characteristics and picking requirements of crabapple, the six-finger wrapped picking form was determined. Taking Longfeng fruit as an example, the bending angle calculation model for the soft finger of picking manipulator was established, and the bending angle of single finger was determined; the HY-E620 type silicone was selected as the material of soft fingers through the tensile contrast experiment of three kinds of silicone materials; the ABAQUS finite element simulation analysis of the influence of various structures on the bending performance of soft fingers was carried out, and the optimal structure was determined; the corresponding relationships between the bending angle and the output force of a single soft finger under different driving pressure conditions were measured by experiments, and the three-finger grasping experiment for various fruits under the driving pressure of 0.08 MPa was carried out, which verified the rationality of the soft finger structure. Finally, a six-finger wrapped pneumatic soft picking manipulator was trial-produced, and the picking experiments were carried out on crabapple, apple, pear and orange. The results showed that the designed picking manipulator could not only pick clustering crabapples containing 3?6 fruits with a success rate of 80%, but also pick apples, pears, oranges and other spherical fruits, which had a certain versatility, and could provide a new idea for the design and research of fruit picking manipulator.

Key words： pneumatic soft picking manipulator crabapple picking six finger wrapped type grasping experiment finite element analysis

Received: 14 April 2022 Published: 06 January 2023

CLC:

TH 138

Corresponding Authors: Li-guo WU E-mail: bluelii73@163.com;wlg0041@163.com

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Cite this article:

San-ping LI,Teng-jia SUN,Long-qiang YUAN,Li-guo WU. Design and experimental research of pneumatic soft picking manipulator. Chin J Eng Design, 2022, 29(6): 684-694.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2022.00.085 OR https://www.zjujournals.com/gcsjxb/Y2022/V29/I6/684

气动软体采摘机械手设计及实验研究

针对传统刚性采摘机械手适用范围小、环境适应性差及对果蔬损伤大等问题，设计了一种面向沙果采摘的刚柔耦合气动软体采摘机械手。根据沙果的结果特点以及采摘要求，确定了六指包裹式采摘形式。以龙丰果为例，建立了采摘机械手软体手指弯曲角度计算模型，确定了单指的弯曲角度；通过3种硅胶材料的拉伸对比实验，选定HY-E620型硅胶作为软体手指的材料；开展了多种结构对软体手指弯曲性能影响的ABAQUS有限元仿真分析，确定了较优的结构；利用实验测定了不同驱动气压条件下单根软体手指弯曲角度与输出力的对应关系，并在0.08 MPa驱动气压下对多种水果进行三指抓取实验，验证了软体手指结构的合理性。最后，试制了六指包裹式气动软体采摘机械手，并分别对沙果、苹果、梨和橘子等进行了采摘实验。结果表明：所设计的采摘机械手不仅对含3~6个果实的成串沙果的采摘成功率达到80％，还可采摘苹果、梨和橘子等类球形水果，具有一定的通用性，可为水果采摘机械手的设计与研究提供新思路。

关键词： 气动软体采摘机械手, 沙果采摘, 六指包裹式, 抓取实验, 有限元分析

Fig.1 Physical picture of crabapple tree

Fig.2 Structure diagram of pneumatic soft picking manipulator

Table 1 Diameter of Longfeng fruit in each group

Fig.3 Calculation model of bending angle of soft finger

Fig.4 Stress‒strain fitting curves of three kinds of silicone

Fig.5 Soft fingers poured by three kinds of silicone

参数	数值	参数	数值
$a 1$	3	$a 3$	3
$b 1$	3	$b 3$	9
$l 1$	113	$c 3$	12
$m 1$	17	$d 3$	18
r₁₁	3	$e 3$	3
r₁₂	6	$f 3$	6
r₁₃	9	$l 3$	113
$a 2$	3	$m 3$	11
$b 2$	3	r₃₁	6
$c 2$	6	r₃₂	9
$d 2$	12	$a 4$	3
$e 2$	18	$b 4$	9
$f 2$	3	$l 4$	113
$g 2$	6	$m 4$	11
$h 2$	9	r₄₁	3
$l 2$	113	r₄₂	6
$m 2$	17	r₄₃	9

Table 2 Structural parameters of strain layer of four kinds of soft fingers

Fig.6 Schematic diagram of strain layer structure of four kinds of soft fingers

Fig.7 Influence of structure on bending performance of soft finger

Fig.8 Influence of airway size on bending performance of soft finger

Fig.9 Influence of airway shape on bending performance of soft finger

Fig.10 Schematic diagram of mold structure of soft ginger

Fig.11 Inflation bending experiment device for soft finger

Table 3 Measurement results of bending angle of soft fingers

Fig.12 Simulation results of bending form of soft finger

Fig.13 Comparison between simulation and experiment results of bending angle of soft finger

Fig.14 Measuring device for end output force of soft finger

Table 4 Measurement results of end output force of soft finger

Table 5 Weight table of experimental subjects

Fig.15 Three-finger grasping experiment results

Fig.16 Experimental site of crabapple picking with pneumatic soft picking manipulator

Table 6 Number of successful picking for crabapple

Fig.17 Experimental site of other fruits picking with pneumatic soft picking manipulator

Table 7 Number of successful picking for different fruits


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