圣女果串采收末端执行器的设计与实验
Design and Experiment of Cherry Tomato Bunch Picking End Effector
李小平 1孙丙宇2
作者信息
- 1. 重庆三峡学院 机械工程学院,重庆 万州 404000
- 2. 中国科学院 合肥物质科学研究院,合肥 230031
- 折叠
摘要
为提高圣女果采摘效率和降低果实损伤,设计了圣女果串采收末端执行器.其末端结构采用平面四连杆驱动夹持剪切机构,夹持机构采用自补偿设计,使夹持与剪切动作一体化完成.同时,基于螺旋理论,建立接触模型,验证分析了夹持结构的力封闭性,并对整体装置进行了动力学和运动学分析与仿真.室内实验结果表明:整串采摘的夹持成功率为100%,剪切成功率为 86.7%.
Abstract
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%.
关键词
圣女果/串采收/末端执行器/夹持剪切一体化/运动学仿真Key words
cherry tomato/tandem harvesting/end effectors/clamping and shearing integration/kinematics simulation引用本文复制引用
出版年
2025
国家科技期刊平台
NSTL
万方数据