树苗硬枝嫁接机器人控制系统设计

Design a control system for a sapling branch grafting robot

树苗嫁接可加快优良树种繁育、改善果实品质、增强抗病和环境适应能力。但迄今为止,树苗嫁接仍然延续传统的手工方式,劳动强度大、生产效率低、嫁接苗木的成活率也不高,急需开展树苗自动化嫁接方法研究。针对此需要,基于Arduino单片机设计一种树苗硬枝嫁接机器人控制系统,实现嫁接机器人砧木与穗木的夹持、搬运、定位、切苗、接合及捆绑作业。本论文的研究对于实现树苗育苗的工厂化生产,加快优质树苗的繁育,具有重大的理论与实践意义。

Seedling grafting is potentially able to accelerate breeding of fine species, improve fruit quality, and enhance plant adaptabil- ities to the environment. At present, however, seedlings are still grafted by the traditional manual way, which is labor-intensive and less efficient due to low productivity and low survival rate. Therefore, automatic seedling grafting methods are urgent research topics to be solved. For this problem, a control system based on Arduino MCU for sapling grafting robot is developed to realize clip, move, position, cut, graft, bind saplings. This article contributes significantly to industrialized seedling production and acceleration of breed- ing high grade seedlings, both in theory and in practice.