吸附式柑橘无损采摘末端执行器设计与仿真分析

Design and simulation of adsorption end-effector for non-destructive citrus harvesting

为实现柑橘采摘的机械化、智能化,对柑橘的几何特性和力学特性进行了试验研究,得出了末端执行器的设计要求。设计了一款吸附式柑橘无损采摘末端执行器,主要由剪切机构、吸附机构和传输框3部分组成。建立末端执行器的三维模型,并对其进行了运动学仿真和有限元仿真分析,保证了机构设计和材料选择的合理性。利用3D打印技术制造了末端执行器样机,并进行了实验验证。实验结果表明:末端执行器样机结构设计合理,吸附机构的吸力适中,可以很好完成吸附动作,且剪切机构动作迅速,可以顺利完成果、梗分离,对柑橘果实未造成拉扯、挤压损失,为后续智能柑橘采摘机器人的整体装配试验提供了条件,具有较好的参考与应用价值。

Aiming to achieve the development of mechanized and intelligent citrus picking,the geometric and mechanical properties of citrus are tested,and the design requirements of the end effector are obtained.An adsorption end-effector for non-destructive citrus harvesting is designed,which is mainly composed of three parts:shearing mechanism,adsorption mechanism and transmission frame.The three-dimensional model of the end effector is established,and its kinematics simulation and finite element simulation analysis are carried out to ensure the rationality of the mechanism design and material selection.The prototype of the end effector is manufactured by 3D printing technology,and the experimental verification is carried out.The experimental results show that the structure of the end-effector prototype is reasonable,the suction force of the adsorption mechanism is moderate,and the adsorption action can be completed very well,and the shearing mechanism acts quickly,which can successfully complete the separation of fruit and stem,without causing any loss of pulling and squeezing on the citrus fruit,which provides conditions for the overall assembly test of the subsequent intelligent citrus picking robot,and has good reference and application value.