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題 名 | 採摘柑橘果實機器手臂之研製=Development of Robotic Arm for Citrus Fruit Harvesting |
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作 者 | 李芳繁; 王智立; | 書刊名 | 農業機械學刊 |
卷 期 | 8:3 1999.09[民88.09] |
頁 次 | 頁1-8 |
分類號 | 434.251 |
關鍵詞 | 機器手臂; 採果; 機器視覺; Robot; Fruit harvest; Machine vision; |
語 文 | 中文(Chinese) |
中文摘要 | 本研究之目的係研製一台採摘棺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 0.7Omm, 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。 |
英文摘要 | 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. |
本系統中英文摘要資訊取自各篇刊載內容。