智能化农业装备学报（中英文）

绳驱柔性机械手研究进展及其在农业机器人中的应用

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韦慧玲 ¹ , 梁成斌 ¹ , 王金海 ² , 陈明猷 ¹ , 罗陆锋 ¹^,^*

智能化农业装备学报（中英文） | 2024,5(4): 95-106

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智能化农业装备学报（中英文） | 2024 , 5 (4) : 95 -106

绳驱柔性机械手研究进展及其在农业机器人中的应用

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韦慧玲¹, 梁成斌¹, 王金海², 陈明猷¹, 罗陆锋¹^,^*

作者信息

^1.佛山大学机电工程与自动化学院，广东佛山，528000

^2.佛山大学计算机与人工智能学院，广东佛山，528000

通讯作者:

^* 罗陆锋，男，1982年生，湖南娄底人，博士，教授；研究方向为采摘机器人、机器视觉等。E-mail：luolufeng617@163.com

作者简介:

韦慧玲，女，1986年生，广西贵港人，博士，副教授；研究方向为绳牵引机器人、采摘机器人。E-mail：weihuiling2007@126.com

Research progress of cable-driven flexible manipulator and its application in agricultural robots

Huiling WEI¹, Chengbin LIANG¹, Jinhai WANG², Mingyou CHEN¹, Lufeng LUO¹^,^*

Affiliations

^1.School of Mechatronics Engineering and Automation, Foshan University, Foshan 528000, China

^2.School of Computer Science and Artificial Intelligence, Foshan University, Foshan 528000, China

出版时间: 2024-11-15 doi: 10.12398/j.issn.2096-7217.2024.04.007

文章导航

摘要

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绳牵引并联机器人具有结构简单、运动惯性小、可重构、响应速度快等特点，成为近年来机器人领域研究的热点。而绳驱柔性机械手由于其驱动绳索的柔弹性为任务操作提供了一定的适应性和柔顺性，能够实现作业对象与机械手良好的动态交互，提高防破损耦合的能力，引起了农业机器人领域科研人员的广泛关注。由于农业采摘机器人的作业环境具有非结构化、不确定的特点，而大多数的果实外表皮脆弱易损，因此对直接与果实接触的采摘机械手要求更严格，既要满足稳定抓持又不能损伤果实。为实现采摘机器人高效精准作业，与生物友好交互的轻量化柔性末端执行机构是急需重点突破的关键理论技术之一。首先，阐述了具有商业应用前景的绳驱柔性机械手的特点及发展概况；然后，详细综述了国内外研究人员对绳驱柔性机械手的设计、建模和控制等理论的研究进展，进一步概述了绳驱柔性机械手在肢体康复和灵巧操作领域的应用开发，详细分析绳驱柔性机械手在农业采摘领域应用的意义，并对绳驱柔性机械手在番茄、苹果、草莓和黑莓采摘的研究现状进行分析；最后，针对现阶段绳驱柔性机械手在农业采摘存在的采摘准确度不高、通用性差和成本高、造成损伤、采摘效率低下等问题，指出今后绳驱柔性机械手商业化应用亟须在农机农艺协同、模块化与可重构设计、提高交互安全性、多传感器融合、采摘序列规划与强鲁棒控制等方面开拓创新，为果蔬机械化无损采摘机构的设计提供新的思路和方法。

关键词

绳驱柔性机械手 / 农业机器人 / 采摘 / 番茄 / 苹果 / 草莓 / 黑莓

Abstract

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Cable-driven parallel robots have become a hot research topic in the field of robotics in recent years due to the characteristics of simple structure, small motion inertia, reconfigurability, and fast response speed, etc. The cable-driven flexible manipulator provides a certain adaptability and softness for operation due to the flexibility and elasticity of driving cable, and consequently it can achieve good dynamic interaction between the operating objects and the manipulators, and improve the ability to prevent broken loss coupling, which has also attracted widespread attention from researchers in the field of agricultural robotics. Due to the working environment of agricultural picking robots has the characteristics of unstructured and uncertainty, and most of the fruit outer skin is fragile and easy to damage, the requirements for picking robots that come into directly contacted with the fruits are stricter, ensuring stable grasping without damaging the fruits. In order to achieve efficient and precise operations of picking robots, lightweight and flexible end execution agencies that interact with biological friendly interaction are key theoretical technologies that urgently need to be broken through. This article first elaborates on the characteristics and development overview of cable-driven flexible manipulators with commercial application prospects. Then, the research progress of the theory such as the design, modeling and control of cable-driven flexible robotics at home and abroad is reviewed in detail. Further the typical application development of cable-driven flexible robots in the field of physical rehabilitation and dexterous grabbing is outlined. A detailed analysis is conducted on the significance of the application of cable-driven flexible manipulators in the field of agricultural picking, and the current research status of cable-driven flexible manipulators in tomato picking, apple picking, strawberry picking, and blackberry picking. Aiming at the problems of low picking accuracy, poor versatility, high cost, damage and low picking efficiency of cable-driven flexible manipulator in agricultural picking at the present stage, it is pointed out that in the future, the commercialization of cable-driven flexible manipulator needs to make innovations in agricultural machinery and agronomy collaboration, modular and reconfigurable design, improving interaction safety, multi-sensor integration, picking sequence planning and strong robust control in this study and it provides new ideas and methods for the design of mechanized non-destructive picking mechanisms for fruits and vegetables.

Key words

cable-driven flexible manipulator / agricultural robots / picking / tomatoes / apple / strawberries / blackberry

引用本文

韦慧玲, 梁成斌, 王金海, 陈明猷, 罗陆锋. 绳驱柔性机械手研究进展及其在农业机器人中的应用. 智能化农业装备学报（中英文）, 2024 , 5 (4) : 95 -106 . DOI: 10.12398/j.issn.2096-7217.2024.04.007

Huiling WEI, Chengbin LIANG, Jinhai WANG, Mingyou CHEN, Lufeng LUO. Research progress of cable-driven flexible manipulator and its application in agricultural robots[J]. Journal of Intelligent Agricultural Mechanization, 2024 , 5 (4) : 95 -106 . DOI: 10.12398/j.issn.2096-7217.2024.04.007

基金

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国家自然科学基金资助项目(52205254; 32171909; 32301704)
广东省基础与应用基础研究基金(2020B1515120070)

参考文献

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参考文献引证文献

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2024年第5卷第4期

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doi: 10.12398/j.issn.2096-7217.2024.04.007

接收时间：2024-02-27
首发时间：2026-11-05
出版时间：2024-11-15

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出版历史

收稿日期：2024-02-27
修回日期：2024-04-22

基金

国家自然科学基金资助项目(52205254; 32171909; 32301704)

广东省基础与应用基础研究基金(2020B1515120070)

作者信息

^1.佛山大学机电工程与自动化学院，广东佛山，528000

^2.佛山大学计算机与人工智能学院，广东佛山，528000

通讯作者:

^* 罗陆锋，男，1982年生，湖南娄底人，博士，教授；研究方向为采摘机器人、机器视觉等。E-mail：luolufeng617@163.com

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2种不同金属材料的力学参数

科 Family	属数 Number of genus	种数 Number of species	占总种数比例 Percentage of total species (%)	属 Genus	种数 Number of species	占总种数比例 Percentage of total species (%)
鹅膏菌科Amanitaceae	2	11	5.26	鹅膏菌属 Amanita	10	4.78
小菇科 Mycenaceae	2	12	5.74	丝盖伞属 Inocybe	5	2.39
多孔菌科 Polyporaceae	8	14	6.70	蜡蘑属 Laccaria	5	2.39
红菇科 Russulaceae	3	23	11.00	小皮伞属 Marasmius	6	2.87
				小菇属 Mycena	11	5.26
				光柄菇属 Pluteus	5	2.39
				红菇属 Russula	17	8.13
				栓菌属 Trametes	5	2.39

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