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《Transactions of the Chinese Society for Agricultural Machinery》 2010-09
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Research on End-effector of Apple Picking Based on New Flexible Pneumatic Actuator

Yang Qinghua Jin Yinde Qian Shaoming Bao Guanjun(Key Laboratory of Special Purpose Equipment and Advanced Processing Technology,Ministry of Education,Zhejiang University of Technology,Hangzhou 310014,China)  
A new type of end-effector was developed based on flexible pneumatic actuator(FPA),which was designed as a bending joint.The mathematical model of bending joints and end-effector was established with mechanical analysis method,the relationship between pressure and bending capacity,as well as the relationship between pressure and output bending force was analyzed.The mathematical model for end-effector of crawling apple was built.The experimental results show that the force of the end-effector is quite strong and the actuator can grasp apples perfectly and flexibly.
【Fund】： 国家“863”高技术研究发展计划资助项目(2009AA04Z209);; 浙江省自然科学基金资助项目(R1090674)
【CateGory Index】： TP242
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