用缆绳驱动的可切换夹持机械臂，实现农田作业自动化
CAFEs: Cable-driven Collaborative Floating End-Effectors for Agriculture Applications
- 多机械臂共享缆绳系统，通过快速夹紧释放实现协同移动
- 实验验证可在大空间内稳定完成拾取放置任务
- 适合大规模农田场景，对柔性缆绳系统有深入设计
CAFEs（协作式农业浮动末端执行器）是一种用于自动化大规模农业作业的新机器人设计与控制方法。基于缆绳驱动架构，多个模块化机械臂共用同一组滚轮驱动缆绳，通过快速切换夹紧与释放机制，实现机械臂在工作空间内的独立或同步运动。所提出的方法包括机械结构设计、精确位置控制以及针对弹簧-质量系统的动态建模，确保机械臂运动的精准与稳定。通过研究缆绳张力与下垂特性，进一步探索了系统在增加机械臂数量时的可扩展性。实验与仿真结果表明，该系统在拾取与放置任务中表现有效，展现出在农业自动化中的应用潜力。
原文摘要 · Abstract (English)
CAFEs (Collaborative Agricultural Floating End-effectors) is a new robot design and control approach to automating large-scale agricultural tasks. Based upon a cable driven robot architecture, by sharing the same roller-driven cable set with modular robotic arms, a fast-switching clamping mechanism allows each CAFE to clamp onto or release from the moving cables, enabling both independent and synchronized movement across the workspace. The methods developed to enable this system include the mechanical design, precise position control and a dynamic model for the spring-mass liked system, ensuring accurate and stable movement of the robotic arms. The system's scalability is further explored by studying the tension and sag in the cables to maintain performance as more robotic arms are deployed. Experimental and simulation results demonstrate the system's effectiveness in tasks including pick-and-place showing its potential to contribute to agricultural automation.
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