六自由度果实采摘机械手及其控制系统的设计

1121．1500302．150060。ATmega16。AVR—ATmega16L。。6、。ATmega168TP241．3A1003－188X201009－0111－030、。①②、、③④、⑤。。、、、、。。ATmega16。。1。[e-mail]。[e-mail]。1、、、4、、21。1Fig．1Thephysicalstructureofmanipulatorsystem1．16。4、11。46V、13kg26V、1．8kg·111·2010992。1．2．3．4567．8．2Fig．2Thephysicalstructureofmanipulatorsystem2。0～5．4cm0°～180°45670°～180°。1．2/V5/V4．8～6/A1．2～3/g200～500/mm210/mm170/mm58/mm390/mm40．4×19．8×36/g481．22s/60°/kg·cm13MicroSTD/mm28×14×29．8MicroSTD/g18MicroSTD1．13s/60°MicroSTD/kg·cm1．822．1ATmega165VAVR。5V、AT-mega16L、、、6、ISPJTAG1602。ATmega16AVRRISC、8CMOS。ATmega16AVR323。74HC595ATmega16OC1B674HC595Q0－Q5M0－M54－5。3。3Fig．3Theconnectionchartofhardwaresystem2．2AVRStudioICCAVR。CAVRI/O、1602、/、。、1602。4。·211·2010994Fig．4TheflowchartofsystemmainprogramPWMT/C1AB20ms1PWM20msT/C1AOCR1AT/C1BOCR1B。fxtaln64OCR1A6OCR1B。5。5Fig．5TherelationshipbetweenpositivepulsewidthandservoanglePWMfPWM=fXTALn·1+OCR1A/B1fPWM—PWMfXTAL—n—64OCR1A/B—。3xyz6。1。1Tab．1Experimentalresultsbetweenthree－dimensionalcoordinatesandservoangles/cm/°－234112°120°70°151°139°96°17－1519136°110°88°161°150°97°。。4AVR－ATmega16PWM1602。。1MarchantJ．Agriculture－achallengetoroboticscienceJ．industrialrobot1998255308－309．2．M．200622－47．3．ATmega128M．2006353－390．4．M．200493－117．5．ATmega128M．200610－196．6．CM．2008．117·311·201099ProductsInc．2008．3．FPGAD．2008．4i2chip．i2ChipW3100ATechnicalDatasheetv1．1M．KoreaWIZnetInc．2000．5Realtek．RealtekSingleChipSinglePort10/100MFastEth-ernetPhyceiverRTL8201BLM．TaiwanRealtekSemicon-ductorCorp．2002．6HanRun．RJ45ConnectorwithIntegratedMagneticsM．ChinaHanRunElectronLtd．2008．7．DS18B20J．200722583－85．8．W3100AJ．2009542－45．TheDesignofGranaryTemperatureMonitoringSystemBasedonEthernetHuangWeifeng12LiJianian21．DepartmentofMechanicalandElectricalEngineeringZhongkaiUniversityofAgricultureandEngineeringGuang-zhou510225China2．CollegeofEngineeringSouthChinaAgriculturalUniversityGuangzhou510642ChinaAbstractTemperatureisimportantforthestorageoffoodstuff．Veracioustemperaturedetectionistheidealcontrolfoun-dation．Amulti－pointsdatacollectingandprocessingsystemwasdesignedtoautomaticallymonitortemperature．Adis-tributedconstructionwasadoptedinthissystemwhichincludedonecollectingcenterandmultiintelligentcollectingpoints．TheRJ－45ethernetinterfacewasusedtobethetoolofcommunicationinthissystem．AprogramcompiledbyMatlabwasrunbythecollectingcentertocollectprocessanddisplaytemperaturedatawhichcouldamelioratetheeffi-ciencyandstabilization．Keywordsgranarytemperatureethernetsingle－chipmicrocomputer1137．CM．2006180－283．AbstractID1003－188X201009－0111－EADesignof6－DOFFruitPickingManipulatorandControlSystemNingZhichao1CuiTianshi1LiGuangjun21．CollegeofEngineeringNortheastAgriculturalUniversityHarbin150030China2．ShangzhiElectricPowerBu-reauShangzhi150060ChinaAbstractAtpresentChina＇sagriculturalmechanizationlevelisverylowcomparedtosomedevelopedcountriesinEuropeandAmericassotospeeduptheprocessofChina＇sagriculturalmechanizationistheonlyandmostimportantwayforChina＇sagriculturalmodernization．ThispapermainlyintroducesthedesignofcontrollerbasedonAVRmicrocontroller－ATmega16laswellastheoverallstructuredesignofthemanipulator．Mechanicalsystemisdesignedmodularlydecom-posingthefunctionandreducingthecoupling．Themechanismofsystemismainlycomposedofthe6－channelservomo-torsandaluminumcomponentsthecontrollerincludinghardwareandsoftwareisdesignedthefeasibilityofthesixde-greefruitpickingmanipulatorisverifiedbyexperiments．KeywordsfruitATmega16servomotordegreeoffreedommodule·711·201099