柑橘采摘机器人末端执行器结构设计与仿真分析

Structural design and simulation analysis of end effector of orange picking robot

针对目前柑橘室外采摘作业难度大、人工采摘效率低,以及对柑橘本身和柑橘果园破坏性大、破坏范围广等问题,提出了一种改进优化柑橘室外采摘末端执行器。通过对柑橘采摘末端执行器采摘机构进行设计和运动学仿真分析,以及对整体结构仿真分析和运动学仿真分析,得到了最优柑橘采摘末端执行器采摘机构部分模型,并在自然环境下对其进行了柑橘采摘试验,试验成功率高达80%,成功实现对室外柑橘自动化采摘,具有较大的应用和推广价值。

Aiming at a series of problems, such as the difficulty of outdoor picking operation of citrus, the low efficiency of manual picking, the damage to the citrus itself and the citrus orchards, and the wide range of damage, an improved and optimized citrus outdoor picking end effector was proposed. Based on citrus picking end executor picking mechanism design and kinematics simulation analysis, and the simulation analysis to the overall structure and the kinematics simulation analysis, get the optimal citrus picking end actuator part model was obtained, and the natural environment of citrus picking test was carried out. The success rate of the test was as high as 80%, and the optimized end effector had large application promotion value.