Design and experiment of an intelligent mobile platform loaded with a fruit picking robot
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摘要:目的
基于三自由度水果采摘机械臂，设计一种轮式智能移动平台。
方法根据农田工作环境，设计了转向机构和防撞梁机构；借助ANSYS对车架在3种工况下的变形情况进行仿真分析；使用Simulink模块对车载电机进行了基于最大转矩电流比矢量控制(MPTA)以及ID=0模式下的仿真；使用VC++语言编写了运动控制程序，开发人机交互界面；在南京市江浦农场进行样机行走试验。
结果弯扭工况下车架变形量最大为14.1 mm，应力值小于材料屈服极限；基于MPTA控制下的电机约0.8 ms达到稳定；该平台最大爬坡角度约为10°，1.5 m·s-1行进时跟踪路径的横向偏差约为0.22 m。
结论该移动平台结构合理，强度和刚度较高，运动精度高，符合实际工作要求。
Abstract:ObjectiveTo design a prototype of wheeled intelligent mobile platform at the basis of a 3-DOF fruit picking robot hand.
MethodAccording to the working environment of farmland, the steering structure and anti-collision beam structure of the platform were designed. The deformation of the platform frame under three working conditions were simulated using ANSYS, and simulation of the motor was carried out using Simulink module based on MPTA or ID=0. The motion control program and human computer interface were programmed with VC++. The prototype walking experiments were carried out in Jiangpu farm, Nanjing.
ResultThe maximum deformation of the platform frame was 14.1 mm under the crankle working condition, and the value of stress was under the yield limit of material. The motor based on MPTA control achieved stability after 0.8 ms. The maximum climbing angle of the platform was 10°, and the tracking path lateral deviation was 0.22 m at a speed of 1.5 meter per second.
ConclusionThis mobile platform has reasonable structure, with high strength, rigidity and motion accuracy, which meets the requirements of practical use.
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图 1 智能采摘机器人移动平台结构简图
1：双目摄像机；2：机械臂Y轴；3：机械臂X轴；4：末端执行器；5：水果分级装置；6：防撞梁；7：前桥；8；车架；9；果实收集盒；10：后桥；11：转向系统；12：刹车装置；13：控制柜；14：人机交互模块。
Figure 1. Structure of the intelligent mobile platform loaded with a fruit picking robot
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图 2 转向系统结构简图
1：方向盘；2：方向盘轴；3：套筒；4：换向器；5：联轴器；6：扭矩传感器；7：EPS管柱；8：减速机；9：电机。
Figure 2. Structure of the steering system
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图 3 防撞测撞梁结构简图
1：支架；2：液压缓冲器；3：缓冲弹簧；4：横梁；5：吸能盒；6：光电开关。
Figure 3. Structure of the anti-collision beam
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图 4 纯弯曲工况下车架等效位移云图
Figure 4. Equivalent displacement image of the platform frame under pure bending working condition
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图 5 弯扭工况下车架等效位移云图
Figure 5. Equivalent displacement image of the platform frame under twisting working condition
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图 6 采摘工况下底座受力曲线
Figure 6. Force curve of the platform base under picking working condition
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图 7 采摘工况下车架等效位移云图
Figure 7. Equivalent displacement image of the platform frame under picking working condition
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图 8 MPTA控制下永磁同步电机转速和输出力矩响应曲线
Figure 8. The speed response curve and torque response curve of PMSM under MPTA control
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