香蕉采摘机械手结构设计及样机试验

Structural design and prototype test for a bananas picking manipulator

在对香蕉农艺特性及收获特性分析的基础上,遵循机构设计与仿生学原理,提出了一种模拟人工采摘动作的香蕉采摘机械手机构方案,将香蕉采摘机械手分为旋转、升降和平移3部分,对各部分的功能、结构和几何尺度进行了详细的分析。遵循结构设计方案,搭建了香蕉采摘机械手物理样机,用物理样机进行了实验室采摘试验,验证了机构空间可达性和采摘过程的稳定性和有效性。

Based on agronomic analysis and harvest character- istics for bananas, the structural solution simulating action of a per- son manually picking bananas was proposed according to structural design and bionic principle, which was consisted of rotary mecha- nism, lifting mechanism, and shift mechanism, the body mechani- cal model of the bananas picking manipulator was established, the function, structure and dimension relationship of every mechanism were detailedly analyzed. A physical prototype of the bananas pick- ing manipulator was developed based on structure design and syn- thesis. Some experiments for bananas picking employing the physi- cal prototype were done ; the possibility of mechanism reaching spe- cial location in work space and the stability and validity for the mechanism in picking process were verified.