基于气压传动的苹果采摘机器人末端执行器的设计

Design of end-Effector of Apple Picking Robot based on pneumatic transmission

随着我国苹果种植规模化的发展,苹果采摘机器人成为苹果机械化生产环节中最重要的一环。本文以苹果为采摘对象,研究苹果的物理性质,分析苹果采摘末端执行器组成和工作原理,结合当前苹果采摘末端执行器结构存在的不足,设计一款基于气压传动原理的苹果采摘末端执行器。

With the large-scale development of apple planting in China,apple picking robot has become the most important link in the mechanization of apple production.Taking apples as the picking object,this paper studies the physical properties of apples,analyzes the composition and working principle of the apple-picking end-effector,and designs an apple-picking end-effector based on the pneumatic transmission principle in combination with the deficiencies of the current apple-picking end-effector structure.