• 期刊收录
  • 论文
  • 水产名词
  • 专家库

ISSN 2095-1388

主管 辽宁省教育厅

主办 大连海洋大学

虾夷扇贝分拣柔性抓取装置设计与试验

2023. 虾夷扇贝分拣柔性抓取装置设计与试验. 大连海洋大学学报, 38(6): 1044-1051. doi: 10.16535/j.cnki.dlhyxb.2023-129
引用本文: 2023. 虾夷扇贝分拣柔性抓取装置设计与试验. 大连海洋大学学报, 38(6): 1044-1051. doi: 10.16535/j.cnki.dlhyxb.2023-129
CAI Weiguo, MENG Delong, GUO Shenghan. 2023. Design and test of flexible gripping device used in sorting for Yesso scallop (Patinopecten yessoensis). Journal of Dalian Ocean University, 38(6): 1044-1051. doi: 10.16535/j.cnki.dlhyxb.2023-129
Citation: CAI Weiguo, MENG Delong, GUO Shenghan. 2023. Design and test of flexible gripping device used in sorting for Yesso scallop (Patinopecten yessoensis). Journal of Dalian Ocean University, 38(6): 1044-1051. doi: 10.16535/j.cnki.dlhyxb.2023-129

虾夷扇贝分拣柔性抓取装置设计与试验

  • 基金项目:

    辽宁省教育厅科学研究项目(LJKZ0725)

详细信息
    作者简介:

    蔡卫国(1970-),男,副教授。E-mail:cwg@dlou.edu.cn

  • 中图分类号: S 951; TP 241.3

Design and test of flexible gripping device used in sorting for Yesso scallop (Patinopecten yessoensis)

  • Fund Project: 辽宁省教育厅科学研究项目(LJKZ0725)
  • 为解决传统生产中海珍品分拣方式效率低、破损率高的实际问题,以虾夷扇贝(Patinopecten yessoensis)为对象,在对其形态特性、物理特性研究的基础上,研制了一种三指柔性抓取装置,柔性手指呈"A"字型结构,柔性三指张开度Ф为14.66~197.44 mm,并建立柔性手指模型,将虾夷扇贝实体简化为类球体,对柔性单指受力和柔性三指抓取进行仿真分析。结果表明:设计的分拣装置柔性单指受力时向接触面受力一侧弯曲,柔性三指弯曲变形组成完整的包络曲面,包络自适应性能良好;对单一规格虾夷扇贝进行抓取成功率和夹持力试验显示,当气压低于0.2 MPa时,抓取成功率不足90%,当气压达到0.6 MPa时,平均抓取成功率在98%以上,壳体及边缘均无破损,且随着气压的增加,抓取成功率和夹持力均呈正相关变化;在气压为0.6 MPa时,对3种不同质量的虾夷扇贝进行抓取性能试验显示,实测横向、纵向抓取的最大夹持力分别为8.76、7.24 N,虾夷扇贝壳体及边缘无破损,且随着虾夷扇贝质量的增加,夹持力呈下降趋势。研究表明,本研究中所设计的分拣装置能够满足大部分贝类珍品分拣的需求,可应用于规模化生产扇贝、牡蛎、鲍和螺等多种贝类珍品的无损分拣。
  • 加载中
  • ZHANG J H, WANG T, HONG J, et al.Review of soft-bodied manipulator[J].Journal of Mechanical Engineering, 2017, 53(13):19-28.(in Chinese)

    WANG Y J, ZHAO X, WANG J F, et al.Research progress on actuating technology of soft robot[J].Chinese Hydraulics & Pneumatics, 2022, 46(12):1-11.(in Chinese)

    GUAN Q H, SUN J, LIU Y J, et al.Status of and trends in soft pneumatic robotics[J].Scientia Sinica (Technologica), 2020, 50(7):897-934.(in Chinese)

    FEI Y Q, WANG J B, PANG W.A novel fabric-based versatile and stiffness-tunable soft gripper integrating soft pneumatic fingers and wrist[J].Soft Robotics, 2019, 6(1):1-20.

    PENG Y, LIU Y G, YANG Y, et al.Research progress on application of soft robotic gripper in fruit and vegetable picking[J].Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(9):11-20.(in Chinese)

    WEHNER M, TRUBY R L, FITZGERALD D J, et al.An integrated design and fabrication strategy for entirely soft, autonomous robots[J].Nature, 2016, 536(7617):451-455.

    DEIMEL R, BROCK O.A novel type of compliant and underactuated robotic hand for dexterous grasping[J].The International Journal of Robotics Research, 2016, 35(1/2/3):161-185.

    JIA J M, YE Y Z, CHENG P L, et al.Design and parameter optimization of soft pneumatic gripper for slender fruits and vegetables picking[J].Transactions of the Chinese Society for Agricultural Machinery, 2021, 52(6):26-34.(in Chinese)

    ELANGO N, FAUDZI A A M.A review article:investigations on soft materials for soft robot manipulations[J].The International Journal of Advanced Manufacturing Technology, 2015, 80(5):1027-1037.

    -21).https://kns.cnki.net/kcms/detail/61.1112.O3.20221118.1130.002.html. YI B Y, ZHOU J, ZHANG Z, et al.Modeling and experiment of soft robotic picking hand based on fin ray effect[J/OL].Chinese Journal of Applied Mechanics, 2022:1-11.(2022-11-21).https://kns.cnki.net/kcms/detail/61.1112.O3.20221118.1130.002.html.(in Chinese)

    HEMMING J, BAC C W, VAN TUIJL B A J, et al.A robot for harvesting sweet-pepper in greenhouses[C]//International conference of agricultural engineering.Zurich, Switzerland:Swiss Federal Institute of Technology, 2014:6-10.

    GUAN Y K, HOU Z G, HU B, et al.Design and experimental research of flexible gripper based on fin ray effect[J].Machine Tool & Hydraulics, 2023, 51(4):86-91.(in Chinese)

    LV T, SU W.Design of the bionic robotic gripper based on fin-ray effect[J].Journal of Machine Design, 2021, 38(12):21-24.(in Chinese)

    MA W, LIU X Y, JIN W, et al.Design and experiment of flexible clamping structure for four-corner rice dumplings[J].Packaging and Food Machinery, 2022, 40(3):44-50.(in Chinese)

计量
  • 文章访问数:  128
  • PDF下载数:  0
  • 施引文献:  0
出版历程
收稿日期:  2023-05-31

目录