Research on The Flexible Grasping Manipulator for Stacked Bagged Agricultural Materials

摘要

At present, Chinese agricultural materials are mainly packaged in bags and transported, stored and sold, and the quantity is huge. Manual handling efficiency is low, and manpower demand is large. Most of the agricultural materials packaging bags are in flexible packaging form, which are easy to be deformed and easily broken. The bagged agricultural materials are piled up closely, and the gap between the agricultural materials is small. The domestic and foreign handling and grasping institutions havelimitations on the stacked bagged agricultural materials. In view of the current situation of China's agricultural materials handling difficulties, flexible grasping manipulator are designed. In order to achieve flexible grasping, a clamping width adjustable mechanism is adopted. The pneumatic control circuit and the pneumatic control air circuit are designed to realize the pneumatic control of the flexible grasping manipulator. In the ADAMS environment, the kinematics simulation of the flexible grasping manipulator is carried out. The simulation results show that the cylinder force can be changed from 0 to 1000N within 2s during the grabbing process, and the cylinder displacement can be changed within the range of 12-15mm, clamping plate angle and angular velocity changes correspond to cylinder displacement and velocity curves. The flexible grasping manipulator experiment platform was built and the flexible grasping experiment was carried out. The experimental results show that the design has good kinematics characteristics, can be reliably grasped and stacked, and has important application significance for realizing flexible grasping of agricultural materials.