毕业设计（论文）-番茄收获机器人结构设计.pdf

番茄收获机器人结构设计 摘要 农业机器人现代农业机械发展的结果，是农业迈向机械化和现代化的标志。农业机 器人的发明和应用，改变了人们传统的农业生产方式，同时促进了现代农业的发展。 农业生产最重要的过程就是果实收获，在传统农业中果实收获依靠人工来完成， 由于温室大棚中的环境特殊，并不适合人长时间工作，所以开发出能代替人类进行采摘 作业的机器人就非常必要了，利用农业机器人工作，不仅能够提高生产效率改善环境， 还能降低人工支出。目前，日本、 国、荷兰等国家已研制了多种收获机器人，主要用 于收获番茄、西瓜、桃子、葡萄、苦瓜、苹果等蔬菜和水果。 本文首先根据番茄收获机器人的工作环境和工作对象的特点，确定了机器人采用七 个 自由度的机械手，并根据实际作业方式对机械手的机构部分进行了设计，为机械手选 择合适的驱动方式，为了减少番茄损伤，选择吸盘式末端执行器作为机械手抓取果实的 部分，本课题理论研究与实际参数有机结合，研究结果也可应用于其它类型果实的采摘。 关键词：农业机器人；机械化；机械手；末端执行器。 Structure design of tomato harvesting robot Abstract： Agricultural robot the result of the development of modern agricultural machinery is the mark of agricultural mechanization and modernization.The invention and application of agricultural robot have changed peoples traditional agricultural production mode and promoted the development of modern agriculture. Fruit harvest in agriculture, is one of the most important process in the traditional agricultural fruit harvest rely on artificial to complete, as the special environment in the greenhouse, is not suitable for people to work long hours, so developed robots can take the place of humans picking operations is very necessary, use of agricultural robots work, not only can improve production efficiency to improve the environment, can reduce labor costs.At present, Japan, the United tates, the Netherlands and other countries have developed a variety of harvesting robots, mainly used to harvest tomatoes, watermelon, peaches, grapes, bitter melon, apples and other vegetables and fruits. This paper based on the tomato harvesting robot working environment and the characteristics of the work obj ect, identified by seven degrees of freedom robot manipulator, and according to the actual practices part has carried on the design of manipulator mechanism, for the manipulator to choose the right means of drive, in order to reduce the injury o