Dissertation > Excellent graduate degree dissertation topics show

Research on Design and Control of Harvesting Manipulator

Author: HuangHaoQian
Tutor: JiChangYing
School: Nanjing Agricultural College
Course: Agricultural Mechanization Engineering
Keywords: apple harvesting manipulator single chip computer control circuit grasping and picking
CLC: TP241.3
Type: Master's thesis
Year: 2010
Downloads: 116
Quote: 0
Read: Download Dissertation

Abstract

Recently, the development of agriculture is heading to mass production, diversification and precision. The cost of labor force is getting higher, and the phenomenon of lack of labor force is getting obvious. Therefore, more and more people pay attention to the research on agriculture robot. But the roboticized level of picking is still very low now in homeland because of the complicated object and non-structural working environment. Especially, the structure of manipulator that is the key part of harvesting robot is complicated and it is very difficult to control, which causes low in the production efficiency and high in the production cost. Therefore it is not likely to adapt this manipulator widely in agriculture. It is very important to do much research on the design and control of apple harvesting manipulator for the future agriculture.This paper is supported by the National "863" Project: "Research on the key technologies of mobile fruit picking robot". The design and control of manipulator are studied and experimented in the paper. Main research contents and conclusions include:1. On account of some problems for mechanic hands designed before, two finger apple picking manipulator, the structure of which is simpler, is designed. The elastic material attached on fingers can protect fruit from damaging, and the manipulator accomplishes the series of action from grasping to picking successfully. The range of diameter of picking apple is from 70 to 90 millimeter.2. The single chip computer is used as main control chip. Considering the structure of mechanism and action accomplished, the control circuit is designed.3. Because of the fruit which is grasped is non-rigid body, the character is analysed during the process of picking. Including mainly:the form closure character, the moment and robustness analysis during grasping steadily; mechanics character when the wrist is ascending; the kinematics character while rotating and twisting off. 4. The method of machine vision is used, in order to estimate the position and gesture of fruit. So the manipulator which is fixed in the bottom of the mechanic arm is brought to appointed position with the best route and angle, and picks the fruit when the manipulator touch off the force sensor. The way of machine vision is still used to estimate whether the fruit is picked off after picking fruit. If not, the serial motions will be executed again until the fruit is picked off successfully. Feasibility of the total picking motion is proved by some parameters measured about this device. It reaches the aim anticipated before that the picking time is reduced evidently and success rates is improved.5. The mechanic hands designed before is improved to own adaptive ability, and the new four-finger manipulator is prospected at the base of the recent manipulator and considering some problems. It owns more self-adaption ability and makes decision the force degree of grasping fruit during picking fruit. The character change is analysed when the fruit that is as elastic body is grasping complyingly. The control method is researched and the feasibility of theory is approved through emulation.

Related Dissertations

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator > Dedicated robot
© 2012 www.DissertationTopic.Net Mobile