关键词: 双孢菇, 采摘, 动力学, 采摘机械手, 折弯

Abstract: In order to determine a harvesting method applicable to a button mushroom picking robot, the picking dynamics of different picking methods were investigated based on force sensors and an inertial measurement unit. The experimental picking methods included manual picking and three simplified picking methods (including bending, twisting and lifting). The results showed that during manual picking, the angle of the mushrooms changed significantly around its X, Y and Z axes, and it was difficult to design a picking endeffector with similar flexibility to human hands. For the three simplified picking methods, the bending method was simpler and more effective than the twisting and pulling methods, and required the least picking force 3.1N±2.1N, and the threshhold picking time and angle to reach the stalk breakage were 0.9s±04s and 12.2°±6.8°, respectively. Based on the bending method, this paper proposed a solution of a picking endeffector to provide a reference for the design of the button mushroom picking robot.

Key words: button mushroom, picking, dynamics, picking endeffector, bending