Design and Experiment of End-effector of Citrus Picking Robot
In view of the problems of long single-fruit picking time and low picking success rate of the existing in current citrus fruit picking end-effector,a citrus fruit picking end-effector was designed,which is mainly composed of flexible grasping mechanism,cutting mechanism,connecting frame and control system.Through the control system,the grasping mechanism can realize the non-destructive grasping of fruit,and the cutting mechanism can quickly separate fruit from fruit stalk.The three-dimensional model of the end-effector was es-tablished by CATIA software.The modal analysis and static strength analysis of this model were carried out by UG and ABAQUS software.The results show that this end-effector would not resonate in the process of picking fruits.The maximum deformation was 0.077 mm,and the maximum stress was 853.1 MPa,which was less than the yield strength of the material.The results of field picking experiments show that the mini-mum single fruit picking time and the highest picking success rate were achieved when the picking angle of the robot arm was 45°,the cutting edge angle was 45°,and the air pressure of the air compressor was 6 kpa.This end-effector of the citrus fruit picking robot has high picking speed,low control difficulty and high integration with the manipulator.This study can provide a reference for the overall research and development of the citrus fruit picking robot.
万方数据
维普
