Optimization and Experimental Study of Bionic Compliant End-effector for Robotic Cherry Tomato Harvesting
文献类型：期刊论文
| 作者 | Xie, Huaibei2,3,4; Kong, Deyi1,3,4 ; Wang, Qiong3,4
|
| 刊名 | JOURNAL OF BIONIC ENGINEERING
 |
| 出版日期 | 2022-09-01 |
| 卷号 | 19 |
| ISSN号 | 1672-6529 |
| 关键词 | Compliant end-effector Bio-inspired tarsus gripper Response surface Configuration optimization Cherry tomato Robotic harvesting |
| DOI | 10.1007/s42235-022-00202-3 |
| 通讯作者 | Kong, Deyi(kongdy@iim.ac.cn) |
| 英文摘要 | High harvesting success rate is part of the key technologies for robotic cherry tomato harvesting, which is closely related to the structural design of the end-effector. To obtain a high success rate of fruit harvesting, this paper presents a compliant end-effector with bio-inspired tarsus compliant gripper inspired by the structure and mechanics of the tarsal chain in the Serica orientalis Motschulsky. Response Surface Methodology (RSM) based on Box Behnken Design (BBD) technique has been used to optimize the key structural parameters of the bionic compliant end-effector for achieving the expected results in pulling pattern for robotic cherry tomato harvesting. Experiments were designed by maintaining three levels of four process parameters-Length of the Offset Segment Tarsomere (OSTL), Angle of the Inclined Segment Tarsomere (ISTA), Thickness of the Extended Segment Tarsomere (ESTT) and Length of the Extended Segment Tarsomere (ESTL). According to the optimization analysis results, the best parameter combination is OSTL 23 mm, ISTA 14 degrees, ESTT 5.0 mm, ESTL 23 mm. Besides, the harvesting performance of the optimized bionic compliant end-effector was verified by experiments. The results indicated the harvesting success rate of fruits with different equatorial diameters was not less than 76%. |
| WOS关键词 | DESIGN ; ARCHITECTURE ; METHODOLOGY ; PARAMETERS ; GRIPPER ; DRIVEN |
| 资助项目 | Anhui Provincial Major Science and Technology Project[202203a06020002] |
| WOS研究方向 | Engineering ; Materials Science ; Robotics |
| 语种 | 英语 |
| 出版者 | SPRINGER SINGAPORE PTE LTD |
| WOS记录号 | WOS:000835600700002 |
| 资助机构 | Anhui Provincial Major Science and Technology Project |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/132163]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Kong, Deyi |
| 作者单位 | 1.Chinese Acad Sci, Innovat Acad Seed Design, Sanya 572024, Peoples R China 2.Anhui Univ Sci & Technol, Sch Mech Engn, Huainan 232001, Peoples R China 3.Univ Sci & Technol China, Grad Sch, Sci Isl Branch, Hefei 230026, Peoples R China 4.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Intelligent Machines, Hefei 230031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xie, Huaibei,Kong, Deyi,Wang, Qiong. Optimization and Experimental Study of Bionic Compliant End-effector for Robotic Cherry Tomato Harvesting[J]. JOURNAL OF BIONIC ENGINEERING,2022,19. |
| APA | Xie, Huaibei,Kong, Deyi,&Wang, Qiong.(2022).Optimization and Experimental Study of Bionic Compliant End-effector for Robotic Cherry Tomato Harvesting.JOURNAL OF BIONIC ENGINEERING,19. |
| MLA | Xie, Huaibei,et al."Optimization and Experimental Study of Bionic Compliant End-effector for Robotic Cherry Tomato Harvesting".JOURNAL OF BIONIC ENGINEERING 19(2022). |
入库方式： OAI收割
来源：合肥物质科学研究院
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