基于MATLAB的采摘手末端执行器的分析及优化
桑杲，俞经虎
（江南大学 机械工程学院，江苏 无锡 214122）
摘要：给出了一种新型欠驱动苹果采摘手三指末端执行器，并运用SolidWorks进行机构的设计与建模；而后对于该采摘手的抓取过程进行分析，计算出指节长度等参数对苹果抓持力大小的影响，运用MATLAB对各个参数进行优化，得出使得苹果受力最小的一组数据；运用该组数据，计算出所需要的扭簧以及电机参数等。该新型末端执行器可以满足不同大小苹果，具有较好的灵活性和自适应性。
关键词：三指末端执行器；SolidWorks；MATLAB
中图分类号：S22 文献标志码：A doi：10.3969/j.issn.1006-0316.2017.12.010
文章编号：1006－0316 (2017) 12－0036－05
Analysis and Optimization of the End-Actuator for Picking-hand Based on MATLAB
SANG Gao，YU Jinghu
( College of Mechanical Engineering, Jiangnan University, Wuxi 214122, China )
Abstract：A new type of underactuated three-finger end-actuator for apple picking-hand is proposed, the mechanical structure of the end-actuator is designed and modelled by using SolidWorks. Then the process of grabbing is analyzed and the parameters of manipulator fingers’ length which affects on the apple’s braced force are calculated. The several parameters are optimized based on MATLAB and the group of statistics which minimizes the force inflicted on the apple is obtained. Afterwards, the parameters of the torsional springs and electrical motor which are needed are calculated by using this group of statistics. This new type of end-actuator has preferable flexibility and self-adaptation which can adapt to different size of apples.
Key words：three-finger end-actuator；SolidWorks；MATLAB
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收稿日期：2017－04－26
基金项目：江南大学省级大学生创新项目
作者简介：桑杲（1996－），男，江苏苏州人，本科，主要研究方向为机械工程；俞经虎（1973－），男，安徽无为人，硕士生导师，主要研究方向为教学设计。
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