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Pneumatic webbed soft gripper for unstructured grasping

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International Journal of Agricultural and Biological Engineering 2021年第4期14卷 145-151页

作者： Shibo Cai Chun’e Tang Lufeng Pan guanjun bao Wenyu Bai Qinghua Yang College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China Instrumentation Technology and Economy Institute Beijing 100055China

Grasping unstructured and fragile objects such as food and fruits is a great challenge for *** naturally different from the traditional rigid robot,soft robotics provide highly promising choices with their intrinsic flexibility and compliance to *** by duck foot and octopus tentacle,a pneumatic webbed soft gripper was proposed,which is consisted of four multi-chambered fingers and four *** to its silicone body and soft web structure,the developed soft gripper can naturally adapt,grasp and hold delicate and unstructured *** air inflated into the three chambers of the finger actuates the silicone body and performs inflection and *** silicone web follows the motion of four fingers,forming a semi-closed grasping *** fingers were fabricated with silicone rubber and constraint spring by casting *** web was cast around the *** inflecting motion was modeled via the pneumatic principle and geometrical *** dynamic properties of the finger were tested by step and sinusoidal *** the grasping performances for different objects,such as egg,strawberry,candy,and knife,were also demonstrated by *** proposed soft gripper performed stably in response to a 0.4 Hz reference sinusoidal *** bionic structure greatly improves the stability and reliability of grasping,particularly for unstructured and fragile ***,the webs ensure the grasping for multiple objects in one snatch,especially suitable for agricultural products and food processing.

关键词： soft gripper biomimetics grasping robotic pneumatic

Pneumatic bio-soft robot module:Structure,elongation and experiment

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International Journal of Agricultural and Biological Engineering 2017年第2期10卷 114-122页

作者： bao guanjun Yao Pengfei Xu Zonggui Li Kun Wang Zhiheng Zhang Libin Yang Qinghua College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310014China

Soft robotics,often taking inspirations from biomimetics,is an exciting novel research field and has great capability to work with creatures.A new type of bio-soft robot inspired by elephant trunk and octopus was proposed,which has a promising application in robotic agricultural *** two modularized structures,basal segment and caudal segment,were elaborated in *** both have three side chambers and one central chamber,which are reinforced by springs for better stretch performance in axial direction without radial *** the chambers can act as drivers when inflated with compressed *** importantly,the central chamber was designed for regulating the stiffness of the robot module as needed in *** primary static model for axial elongation was established for the fundamental analysis of the bio-soft robot module’s features,such as iso-force,isobaric and isometric *** and experimental results showed that the motion of the proposed bio-soft module has approximate linearity in iso-force and isobaric conditions,and strict linearity in isometric condition.

关键词： bio-soft robot pneumatic muscle actuator static model harvesting robot

Overview of research on agricultural robots in China

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International Journal of Agricultural and Biological Engineering 2008年第1期1卷 12-21页

作者： Zhang Libin Yang Qinghua bao guanjun Wang Yan Qi Liyong Gao Feng Xu Fang The MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of TechnologyHangzhou 310012China

As the representation of new concept agricultural machinery,agricultural robots possess great advantages of improving agricultural productivity,enhancing production environment and solving the problem of labor ***,the strategy for application of agricultural robots and precision agriculture to improve the intelligence and information level of agriculture is the inevitable trend for China’s agriculture in the twentieth *** on the developmental status of agricultural robots in China,the agricultural robots are categorized and the performances,structures and characteristics of various agricultural robots such as vegetable grafting robots,transplanting robots,spraying robots,mowing robots,harvesting robots,grading and detecting robots are amply *** can be seen that vegetable grafting robots,spraying robots,harvesting robots,grading and detecting robots have already been put into production while others are still at experimental *** present,there are several problems such as low popularization,great limitations,high cost and low intelligence,which greatly restrict the development of agricultural robots in ***,open agricultural robot system with good expansibility,generality and flexibility should be developed and adopted to decrease its cost and shorten developing *** mechanical structure of robots should also be designed as simply as ***,multi-robot system would become another important development direction of agricultural robots in the future.

关键词： agriculturalrobots robotsforfacilitybreeding robotsforfieldmanagement robots forharvesting robots for gradingand detecting

Kinematics and trajectory planning of a cucumber harvesting robot manipulator

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International Journal of Agricultural and Biological Engineering 2009年第1期2卷 1-7页

作者： Zhang Libin Wang Yan Yang Qinghua bao guanjun Gao Feng Xun Yi The MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of TechnologyHangzhou 310012China

In order to reduce cucumber harvesting cost and improve economic benefits,a cucumber harvesting robot was *** cucumber harvesting robot consists of a vehicle,a 4-DOF articulated manipulator,an end-effector,an upper monitor,a vision system and four DC servo drive *** Kinematics of the cucumber harvesting robot manipulator was constructed using D-H coordinate frame *** the inverse kinematics which provides a foundation for trajectory planning has been solved with inverse transform *** cycloidal motion,which has properties of continuity and zero velocity and acceleration at the ports of the bounded interval,was adopted as a feasible approach to plan trajectory in joint space of the cucumber harvesting robot ***,hardware and software based on CAN-bus communication between the upper monitor and the joint controllers have been *** results show that the upper monitor communicates with the four joint controllers efficiently by CAN-bus,and the integrated errors of four joint angles do not exceed four *** factors resulting in the errors were analyzed and the corresponding solutions for improving precision are proposed.

关键词： cucumber harvesting robot articulated manipulator trajectory planning cycloidal motion CAN-bus

Recognition and localization system of the robot for harvesting Hangzhou White Chrysanthemums

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International Journal of Agricultural and Biological Engineering 2018年第2期11卷 88-95页

作者： Qinghua Yang Chun Chang guanjun bao Jun Fan Yi Xun Key Laboratory of E&M(Zhejiang University of Technology) Ministry of Education&Zhejiang ProvinceHangzhou 310032China

To realize the robotic harvesting of Hangzhou White Chrysanthemums,the quick recognition and 3D vision localization system for target Chrysanthemums was investigated in this *** system was comprised of three main ***,an end-effector and a simple freedom manipulator with three degrees were designed to meet the quality requirements of harvesting Hangzhou White ***,a segmentation based on HSV color space was performed.A fast Fuzzy C-means(FCM)algorithm based on S component was proposed to extract the target image from irrelevant ***,binocular stereo vision was used to acquire the target spatial *** to the shape of Hangzhou White Chrysanthemums,the centroids of stamens were selected as feature points to match in the right and left *** experimental results showed that the proposed method was able to recognize Hangzhou White Chrysanthemums with the accuracy of 85%.When the distance between target and baseline was 150-450 mm,the errors between the calculated and measured distance were less than 14 mm,which could meet the requirements of the localization accuracy of the harvesting robot.

关键词： Hangzhou White Chrysanthemums harvesting robot recognition localization Fuzzy C-means(FCM) binocular vision stereo matching

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Nondestructive identification of softness via bioinspired multisensory electronic skins integrated on a robotic hand

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npj Flexible Electronics 2022年第1期6卷 479-488页

作者： Ye Qiu Shenshen Sun Xueer Wang Kuanqiang Shi Zhiqiang Wang Xiaolong Ma Wenan Zhang guanjun bao Ye Tian Zheng Zhang Hao Ding Hao Chai Aiping Liu Huaping Wu College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China Collaborative Innovation Center of High-end Laser Manufacturing Equipment(National“2011 Plan”) Zhejiang University of TechnologyHangzhouChina College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China Zhijiang College of Zhejiang University of Technology Shaoxing 312030China Center for Optoelectronics Materials and Devices Zhejiang Sci-Tech UniversityHangzhou 310018China

Tactile sensing is essentially required for dexterous manipulation in robotic *** human perception of softness identification in a non-invasive fashion,thus achieving satisfactory interaction with fragile objects remains a grand ***,a scatheless measuring methodology based on the multisensory electronic skins to quantify the elastic coefficient of soft materials is *** recognition approach lies in the preliminary classification of softness by piezoelectric signals with a modified machine learning algorithm,contributing to an appropriate contact force assignment for subsequent quantitative measurements via strain sensing *** integration of multifunctional sensing system allows the manipulator to hold capabilities of selfsensing and adaptive grasping motility in response to objects with the various softness(i.e.,kPa-MPa).As a proof-of-concept demonstration,the biomimetic manipulator cooperates with the robotic arm to realize the intelligent sorting of oranges varying in freshness,paving the way for the development of microsurgery robots,human-machine interfacing,and advanced prosthetics.

关键词： robotic electronic orange

KINEMATICS MODEL AND SIMULATION OF 5-DOF FINGER BASED ON FLEXIBLE PNEUMATIC ACTUATOR

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KINEMATICS MODEL AND SIMULATION OF 5-DOF FINGER BASED ON FLE...

基于磁流变液传动的柔顺关节研究:设计,仿真和实验（英文）

第一届国际计算机与计算技术在农业中的应用研讨会

作者： Libin Zhang Zhiheng Wang Qinghua Yang Tiefeng Shao guanjun bao The MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of Technology

Based on flexible pneumatic bending joint and flexible pneumatic spherical joint,a kind of flexible pneumatic 5-DOF finger is proposed,which is composed of two bending joints and a spherical *** mathematic model of flexible pneumatic spherical joint is further *** the researching foundation of flexible pneumatic bending joint and flexible pneumatic spherical joint,the kinematics equation of the 5-DOF finger is *** the redundancy problem of the inverse kinematics solution is resolved by genetic *** simulation experiment illustrates that genetic algorithm for solving of inverse kinematics is feasible and effective.

关键词： flexible pneumatic finger flexible pneumatic actuator flexible pneumatic bending joint flexible pneumatic spherical joint

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仪器仪表学报 2019年第1期40卷 200-210页

作者：蔡世波韦威 Wan Weiwei 鲍官军胥芳浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室杭州310023 大阪大学

为了实现机器人的内在主动柔顺,应用磁流变液的可控特性,设计了基于磁流变液传动的多盘式柔顺关节。基于Bingham塑性模型建立了柔顺关节的扭矩传递模型,仿真分析了盘片直径、盘片间隙、励磁电流等因素对输出扭矩的影响规律,根据理论分... 详细信息

为了实现机器人的内在主动柔顺,应用磁流变液的可控特性,设计了基于磁流变液传动的多盘式柔顺关节。基于Bingham塑性模型建立了柔顺关节的扭矩传递模型,仿真分析了盘片直径、盘片间隙、励磁电流等因素对输出扭矩的影响规律,根据理论分析和仿真,得到柔顺关节的机械结构参数。设计实验平台对柔顺关节样机进行了盘片壁面形貌对动力传递性能影响、空转力矩特性、动力传动特性、静态特性、转速-输出转矩特性以及阶跃输入、阶跃负载情况下的动态响应实验研究。结果表明基于磁流变液传动的柔顺关节盘片表面粗糙度越大,所能传递的扭矩越大,磁流变传动输出稳定,且可以无级调控。

关键词：柔顺关节可变刚度磁流变液

乳腺癌患者化疗期间恐惧、出院准备度和家庭功能对生命质量影响的路径分析

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中国实用护理杂志 2021年第10期37卷 721-726页

作者：鲍冠君米媛媛衢州职业技术学院医学院 324000 山西省肿瘤医院乳腺外科太原030000

目的分析乳腺癌患者化疗期间恐惧、出院准备度、家庭功能、生命质量的现状,通过构建结构方程模型探讨恐惧、出院准备度和家庭功能对其生命质量的影响。方法采用乳腺癌生命质量测定量表(QLICP-BR)、恐惧疾病进展简化量表(FoP-Q-SF)、出... 详细信息

目的分析乳腺癌患者化疗期间恐惧、出院准备度、家庭功能、生命质量的现状,通过构建结构方程模型探讨恐惧、出院准备度和家庭功能对其生命质量的影响。方法采用乳腺癌生命质量测定量表(QLICP-BR)、恐惧疾病进展简化量表(FoP-Q-SF)、出院准备度量表(RHDS)和家庭关怀度指数量表(APGAR),对2019年1—7月山西省肿瘤医院就诊的274例乳腺癌化疗患者进行问卷调查。结果乳腺癌化疗患者生命质量总分为(137.78±21.66)分;复发恐惧总分为(34.61±12.36)分;出院准备度总分为(95.57±18.83)分;家庭功能总分为(7.53±2.66)分。结构模型显示:恐惧、家庭功能和出院准备度均对生命质量有直接预测作用,直接效应分别为-0.468、0.331和0.509(均P<0.01);恐惧通过出院准备度的中介作用对生命质量有间接负向预测作用(β值为-0.127,P<0.01),家庭功能通过出院准备度的中介作用对生命质量有间接正向预测作用(β值为0.124,P<0.01)。结论恐惧、出院准备度、家庭功能是乳腺癌化疗患者生命质量的重要影响因素,恐惧和家庭功能亦可以通过出院准备度间接影响生命质量。

关键词：乳腺肿瘤化疗期间恐惧出院准备度家庭功能生活质量