Design and Experiment of Cherry Tomato Bunch Picking End Effector
In order to improve the harvesting efficiency and reduce fruit damage,a terminal actuator for the harvesting of virgin fruit strings was designed.The terminal structure used a planar four link drive clamping and shearing mechanism,and the clamping mechanism used a self compensating design to integrate the clamping and shearing actions.Based on the spiral theory,a contact model was established to verify and analyze the force closure of the clamping structure.The dynamics and kinematics analysis and simulation of the entire device were carried out.The indoor experimental results showed that the success rate of the whole string picking experiment was 100%,and the success rate of shearing was 86.7%.
cherry tomatotandem harvestingend effectorsclamping and shearing integrationkinematics simulation
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