CAFEs：面向农业应用的绳驱协作浮动末端执行器
CAFEs: Cable-driven Collaborative Floating End-Effectors for Agriculture Applications
AI总结：
该研究提出新型绳驱协作浮动末端执行器CAFEs，通过共享滚轮驱动绳组与快速切换夹持机构实现多机械臂协同运动，结合动力学模型保障精准稳定，验证了其在农业自动化中的应用潜力。
摘要：
CAFEs（协作农业浮动末端执行器）是一种用于实现大规模农业任务自动化的新型机器人设计与控制方法。该系统基于绳驱机器人架构，通过让模块化机械臂共享同一套滚轮驱动绳组，搭配快速切换夹持机构，使每个CAFE可夹持在运动的绳索上或从其上释放，从而实现在工作空间内的独立运动与同步运动。支撑该系统的方法包括机械设计、精确位置控制，以及针对类弹簧-质量系统的动力学模型，可确保机械臂运动精准稳定。研究还进一步探索了系统的可扩展性，通过分析绳索张力与垂度，保障在部署更多机械臂时的性能。实验与仿真结果表明，该系统在拾取放置等任务中表现有效，具备助力农业自动化的潜力。
英文摘要：
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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