基于稳定夹持的类球形果实采摘末端执行器优化设计与试验

doi:10.3901/JME.260090

机械工程学报 ›› 2026, Vol. 62 ›› Issue (3): 353-365.doi: 10.3901/JME.260090

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基于稳定夹持的类球形果实采摘末端执行器优化设计与试验

谭励¹, 余煌¹, 杜小强^1,2,3, 贺磊盈^1,2,3, 马锃宏^1,2,3

1. 浙江理工大学机械工程学院杭州 310018;
2. 浙江省农业智能感知与机器人全省重点实验室杭州 310018;
3. 农业农村部东南丘陵山地农业装备重点实验室杭州 310018

修回日期:2025-02-03 接受日期:2025-09-17 出版日期:2026-02-05 发布日期:2026-03-25
作者简介:谭励,男,2000年出生。主要研究方向为农业机器人。E-mail:1391040173@qq.com
马锃宏(通信作者),男,1986年出生,副教授,硕士研究生导师。主要研究方向为机器视觉与伺服控制、农机导航与无人驾驶和智能农机装备与农业机器人。E-mail:mzhss@126.com

Optimal Design and Experiment of Picking End-effector for Spheroid Fruits Based on Stable Grasping

TAN Li¹, YU Huang¹, DU Xiaoqiang^1,2,3, HE Leiying^1,2,3, MA Zenghong^1,2,3

1. School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018;
2. Provincial Key Laboratory of Agricultural Intelligent Sensing and Robotics, Zhejiang Province, Hangzhou 310018;
3. Key Laboratory of Agricultural Equipment for Hilly and Mountainous Areas in Southeastern China, Ministry of Agriculture and Rural Affairs, Hangzhou 310018

Revised:2025-02-03 Accepted:2025-09-17 Online:2026-02-05 Published:2026-03-25
Supported by:
国家自然科学基金(32372004)和浙江省自然科学基金(LGN22C130006,LD24E050006)资助项目。

摘要/Abstract

摘要： 末端执行器的稳定夹持是采摘机器人精准可靠作业的关键技术之一。然而在农业非结构生长环境下，果实大小不一、形状各异，对于末端执行器的稳定夹持是重大挑战。针对类球形果实的稳定夹持问题，优化设计了一种联动驱动的三指双指节末端执行器。首先设计了末端执行器基本结构与参数，然后建立了双指节手指机构的正运动学模型，并基于果实包络稳定性建立了稳定夹持的多目标优化目标函数及约束条件，采用NSGA-II算法进行参数优化求解，并通过ADAMS仿真平台验证了所设计末端执行器运动规律的正确性，最后对不同大小和姿态的番茄果实进行了稳定夹持试验，试验结果表明，夹持不同大小形状的番茄果实时，果实相对于末端执行器的平均质心偏移量为4.30 mm，各指节夹持接触点的平均位置变化量为6.23 mm。所设计的末端执行器对不同大小姿态番茄的夹持适应性较好，能有效提升末端执行器的夹持稳定性，对采摘机器人的研发应用具有重要的理论与技术支撑。

关键词: 稳定夹持, 果实采摘, 多目标优化, NSGA-II算法, 末端执行器, 参数优化

Abstract: The stable gripping of the end-effector is one of the key technologies for the precise and reliable operation of the picking robot. However, in the agricultural unstructured growth environment, the fruit varies in size and shape, which is a major challenge for the stable gripping of the end-effector. Aiming at the stable gripping problem of spherical fruit, a three-finger two-knuckle end-effector driven by linkage is optimized. Firstly, the basic structure and parameters of the end-effector are designed, and then the forward kinematics model of the two-knuckle finger mechanism is established. Based on the stability of the fruit envelope, the multi-objective optimization objective function and constraint conditions for stable clamping are established, and the NSGA-II algorithm is used to optimize the parameters. The correctness of the motion law of the designed end-effector is verified by ADAMS simulation platform. Finally, the stable gripping test of tomato fruits with different sizes and postures is carried out. The experimental results show that when tomato fruits with different sizes and shapes are clamped, the average centroid offset of the fruit relative to the end-effector is 4.30 mm. The average position change of each knucklegrip contact point was 6.23 mm. The designed end-effector has good adaptability to different sizes and postures of tomatoes, and can effectively improve the gripping stability of the end-effector, which has important theoretical and technical support for the development and application of the picking robot.

Key words: stable gripping, fruit picking, multi-objective optimization, NSGA-II algorithm, end-effector, parameter optimization

中图分类号:

TP242

谭励, 余煌, 杜小强, 贺磊盈, 马锃宏. 基于稳定夹持的类球形果实采摘末端执行器优化设计与试验[J]. 机械工程学报, 2026, 62(3): 353-365.

TAN Li, YU Huang, DU Xiaoqiang, HE Leiying, MA Zenghong. Optimal Design and Experiment of Picking End-effector for Spheroid Fruits Based on Stable Grasping[J]. Journal of Mechanical Engineering, 2026, 62(3): 353-365.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I3/353

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基于稳定夹持的类球形果实采摘末端执行器优化设计与试验

Optimal Design and Experiment of Picking End-effector for Spheroid Fruits Based on Stable Grasping

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