脐橙采摘执行器的设计与研究

Design and Research of End-effector for Naval Orange Harvesting

针对目前脐橙采摘机械化程度低的问题,设计了一种环抱吞咽的采摘执行器。采摘执行器的执行结构主要由多组滑块摇杆机构构成。首先,根据设计的脐橙采摘执行器的工作原理,绘制采摘执行器的结构简图,并进行了运动学和静力学分析;然后,依据采摘时间最短,建立了目标函数的数学模型,利用Matlab软件得到了相关结构的优化尺寸;最后,根据计算得到的尺寸,完成了执行器三维模型的建立,利用Adams软件进行了运动学仿真,验证了脐橙采摘执行器设计的合理性和可行性,为进一步实际采摘实验提供了理论支撑。

As for the problem that the efficiency of picking of naval orange is low,a kind of picking actuator with surrounding and swallowing is designed,whose structure of implement is mainly consisted of multiplex slider rocker mechanism.Firstly,structure sketch of that installation is completed by referring to the operating principle of actuator designed,and the analysis of kinematics and dynamics is carried out.Then,the mathematical model of objective function is established based on the least consuming time,the optimized size of related structure are got by utilizing the Matlab software.Finally,based on the obtained dimension,the 3D model of endeffector is achieved,kinematics simulation is carried out by applying Adams software,the rationality and feasibility of design of actuator for naval orange harvesting is verified,and the theoretical support for the practical picking experiment is provided.