柑橘采摘机器人末端执行器发展趋势
Development Trend of End Effector of Citrus Picking Robot
李志鑫 1张俊 2胡栋 1俞烁辰 2李辉2
作者信息
- 1. 浙江农林大学,浙江 杭州 311302
- 2. 浙江省农业科学院,浙江 杭州 310022
- 折叠
摘要
末端执行器作为柑橘采摘机器人的关键部件,其设计直接影响到采摘效率和质量.在梳理国内外末端执行机构研究现状的基础上,根据抓取方式、果柄分离方式进行了分类比较,得出现有柑橘采摘机器人末端执行机构在采摘过程中存在采摘效率低、质量差等问题,分别从园艺角度和机械角度分析了柑橘机械化采收过程中的难点,展望了未来的发展趋势,包括二次修剪果柄、简化结构、提高效率、提高适应性、采收一体化等.
Abstract
As a key component of citrus picking robot,the design of end-effector directly affects the picking efficiency and quality.On the basis of sorting out the current research status of end actuators at home and abroad,this paper compared the methods of grasp-ing and fruit stem separation,and concluded that the existing end actuators of citrus picking robots have problems such as low pick-ing efficiency and poor quality in the picking process.The difficulties in the mechanized picking process of citrus were analyzed re-spectively from the perspective of horticulture and machinery,and the future development trend was also proposed.It includes sec-ondary pruning of fruit stem,simplification of structure,improvement of efficiency,improvement of adaptability and integration of harvesting.
关键词
采摘机器人/柑橘/末端执行器/发展趋势Key words
picking robot/citrus/end effectors/development trend引用本文复制引用
出版年
2024
NETL
NSTL
万方数据