关键词: 果蔬采摘, 机械臂, 自由度, 标准化, 柔性设计

Abstract: Fruit and vegetable picking is an important part of agricultural production, and it relies heavily on manual labor. The development and application of picking robots will greatly reduce labor dependence of picking operations. The picking robotic arm is a key part of the picking robot and a major focus of research on the picking robot. This paper classified the picking manipulators by the degree of freedom, and summarized the development process and research status of the picking manipulators in China and the rest of the world. Aiming at the problem of lack of standardized solutions in thechoice of freedom and configuration of the picking robotic arm for the same fruit and vegetable in the same cultivation mode, it is proposed that indepth integration of the picking manipulator research and agronomy is the key to solving the problem in future. At the same time, considering that the rigid body is difficult to adapt to the picking environment as well as the joint drive mode being single, it is believed that the flexible design of the picking manipulator body and the combined use of the drive mode will be the future development trend.

Key words: fruit and vegetable picking, robotic arm, degree of freedom, standardization, flexible design