採摘柑橘果實機器手臂之研制

Development of Robotic Arm for Citrus Fruit Harvesting

李芳繁(Fang-Fan Lee) ； 王智立(Jyh-Lih Wang)

《農業機械學刊》 8卷3期 (1999/09) Pp. 1-8

https://doi.org/10.30062/JAM.199909.0001

摘要

本研究之目的係研製一台採摘柑橘屬果實之機器手臂，並將其與視覺定位系統整合，進行實際採果試驗。
本機器手臂為球座標型，包含有三個關節。第－、二關節為旋轉關節，第三關節為平移關節。這三個關節均使用步進馬達做為致動器。手端工作器含有三隻爪指，由一個直流小馬達驅動。
本機器手臂之重現性誤差小於0.70mm，平均定位誤差小於2.65mm。機器手臂與視覺系統整合後試驗，其平均定位誤差小於16.91mm。由於手臂之自由度不夠，以及手端工作器尺寸較大且構造較複雜，對多粒果及被樹葉遮住之果實無法順利採摘，有待進一步改良。

關鍵字

機器手臂 ； 采果 ； 機器視覺

並列摘要

The objective of this study is to develop a robot for harvesting citrus fruits. This robot was interfaced with a stereo machine vision system to conduct fruit-picking tests. This robot has three joints and the spherical coordinates system was used. The first and second joints are rotary and the third sliding. One stepping motor was used as the actuator of each joint. The end-effector, which has three fingers, was driven by a small DC motor. The error of repeatability of this robot is less than 0.70 mm and the average positioning errors are less than 2.65 mm. The average positioning errors of the robot, after being interfaced with the vision system, are less than 16.91 mm. Fruits in multiple or covered by leaves may not be picked successfully by the robot due to insufficient degrees of freedom of the robot, and the big size and complex structure of end-effector.

並列關鍵字

Robot ； Fruit harvest ； Machine vision