DOI：10.3969/j.issn.1672-3872.2024.05.014
作 者：裴双成1 ，钟 波2 （1. 湖南农业大学机电工程学院，湖南 长沙 410128；2.长沙市开福区福安水利管理所，湖南 长沙 410003）
摘 要：【目的】提高草莓采摘的自动化水平，解放劳动力并降低采摘成本。【方法】研究小组设计了一种基于曲柄连杆机构的 三爪同步夹持式采摘机器人，分析了其主要部件Kinect深度相机、六轴机械臂以及三爪夹持式采摘机械手的结构设计，并在 Gezebo虚拟世界中构建了采摘机器人的模型，生成了草莓采摘机器人的末端运动轨迹，完成了该草莓采摘机器人的前期开发 试验和算法验证。【结果】该草莓采摘机器人可精准地夹持草莓，减小了采摘过程中对草莓表皮的损伤，同时机械臂末端运动 半径最大可达770 mm，完全满足小型辅助采摘设备的基本需求。【结论】Gazebo能真实地还原草莓采摘的自然环境，充分验 证了该草莓采摘机器人的可行性，同时还可以在虚拟环境中模拟不同的任务场景，可为六轴机械臂或其他多轴运动机械的运 行轨迹设计提供准确的实验数据，并为机器人的实际应用提供指导。
关键词：草莓；采摘机械；Gazebo虚拟仿真
Simulation Study of Strawberry Picking Robot Based on Gazebo Virtual World
Pei Shuangcheng1, Zhong Bo2
(1.College of Mechanical and Electrical Engineering, Hunan Agricultural University, Hunan Changsha 410128; 2.Water Conservancy Management Office of Kaifu District, Hunan Changsha 410003)
Abstract: [Objective] To improve the automation level of strawberry picking, liberate labor and reduce picking costs. [Method] The research group designed a three claw synchronous gripping harvesting robot based on a crank connecting rod mechanism, analyzed the structural design of its main components, Kinect depth camera, six axis robotic arm and three claw gripping harvesting robotic arm, and constructed a harvesting robot model in the Gezebo virtual world, generating the end movement trajectory of the strawberry harvesting robot. The preliminary development experiment and algorithm validation of the strawberry picking robot have been completed. [Result] The strawberry picking robot can accurately grip strawberries, reducing the damage of strawberry skin during the picking process. At the same time, the maximum movement radius of the robotic arm end can reach 770 mm, fully meeting the basic needs of small auxiliary picking equipment. [Conclusion] Gazebo can truly restore the natural environment of strawberry picking, fully verifying the feasibility of the strawberry picking robot. At the same time, it can also simulate different task scenarios in a virtual environment, providing accurate experimental data for the trajectory design of six axis robotic arms or other multi axis motion machinery, and providing guidance for the practical application of robots.
Keywords: strawberry; picking machine; Gazebo virtual simulation
引文信息：[1]裴双成，钟波.基于Gazebo虚拟世界的草莓采摘机器人仿真研究[J].南方农机，2024，55(5)：57-61.
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