doi:10.13733/j.jcam.issn.2095-5553.2020.09.006

Abstract

摘要： 为解决高枝水果采摘难以及现有采摘器对不同果品通用性不高的问题,研制一种可针对不同品种的高枝水果采摘与收集的装置。设计底盘动力小车、多自由度定位机构、末端剪切执行器、装箱机构及控制系统,构建多自由度定位机构的坐标系并采用方向余弦矩阵进行运动分析,得出采摘的运动范围,通过对末端剪切执行器的运动分析得出两剪臂的运动角速度关系。运用SolidWorks建立采摘器的结构模型并对其进行运动学仿真,验证水果的采摘范围和末端执行器的等角速特性,利用ANSYS进行采摘杆的应力应变分析,验证采摘杆满足强度和稳定性要求,制造高枝水果采摘器样机并进行采摘试验,试验表明:采摘效率高,水果无损伤,最大采摘高度为3.5 m,每个水果平均采摘时间为6 s。

关键词: 水果采摘器;定位机构;末端执行器;装箱机构

CLC Number:

S225

左斌;张永康;赵海燕;赵经纬;. 高枝水果采摘器设计与研究[J]. 中国农机化学报, 2020, 41(9): 39-46.

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高枝水果采摘器设计与研究

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