摘要
由于花椒的生长特点,花椒采摘是一项非常耗费人力的工作。因此,该文设计了一种可以用于花椒采摘的智能机器,末端创新设计了一种梳齿状结构。并通过Ansys对结构强度进行了仿真校验,通过仿真结果可以看出结构最易发生破坏处最大应力远小于屈服强度且无压溃现象,可以达到设计要求。同时,在梳齿状结构上安装石墨烯触觉传感器实现更加精确的控制。又设计了一种负压收纳装置,收集采摘下的花椒果实。使用STM32作为主要的控制部件,对其他部件进行控制。此外运用RBF神经网络,优化PID控制算法,使得机器具有一定的自主决策能力。
Due to the growth characteristics of prickly ash,the process of picking it is always a highly labor-intensive task.Therefore,this paper proposes the design of an intelligent machine specifically for pepper picking,incorporating a comb tooth structure at its end.The simulation results demonstrate that the maximum stress experienced by the most vulnerable point in the structure is significantly lower than its yield strength,ensuring no crushing occurs and meeting all design requirements.Additionally,graphene tactile sensors are integrated into the comb structure to enable more precise control.A negative pressure storage device has been developed for collecting prickly ash,with STM32 serving as the main control component responsible for managing other components.Furthermore,an RBF neural network is employed to optimize PID control algorithms and enhance independent decision-making capabilities of the machine.
作者
粟蔚
SU Wei(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《自动化与仪表》
2024年第7期63-66,71,共5页
Automation & Instrumentation
关键词
花椒采摘
结构设计
强度校核
控制算法优化
STM32
prickly ash picking
structural design
strength assessment
control algorithm optimization
STM32
