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

摘要： 为确定一种适用于双孢菇采摘机器人的采摘方法，基于力传感器及惯性测量单元对不同采摘方法下的双孢菇采摘力动力学开展研究。试验的采摘方法包括人工采摘以及三种简化采摘方法(包括折弯、扭转及提拉法)。结果表明，在人工采摘过程中，双孢菇围绕其X、Y、Z轴均发生较大角度变化，设计一种相近于人手灵活度的采摘机械手较为困难；对于三种简化采摘方法，折弯法相较扭转、提拉法更为简单有效，且所需采摘力最小31N±21N，其到达菌柄断裂的临界采摘时间、采摘角度分别为09s±04s、122°±68°。以期为双孢菇采摘机器人设计提供参考。

关键词: 双孢菇, 采摘, 动力学, 采摘机械手, 折弯