Abstract: To address the high risk and labor intensity associated with coconut harvesting, a wheel-based tree-climbing harvesting robot was developed. The rationality and functionality of the mechanical design were verified through Adams software simulations, which modeled both vertical climbing and circular motion. Additionally, the workspace of the robotic arm was visualized to ensure it met the operational requirements for coconut harvesting. The results of the picking test showed that within a voltage range of 12 V and below, the robot's climbing speed exhibited a linear relationship with voltage, and the climbing process remained stable and met performance standards. During picking tests conducted within the voltage range of 15-24 V, the average shear time per coconut was 2.8 s, with an average picking success rate of 81.5%. Moreover, the picking time decreased progressively as voltage increased. This research provides both a theoretical and experimental validation for the design of coconut harvesting machinery. It offers practical guidance for the future development and application of coconut harvesting robots.

Key words: coconut, climbing picker, tree-climbing mechanism, dynamic simulation, Adams

摘要： 为降低椰子采摘风险和工作强度，设计一种攀爬式爬树采摘机器人。该机器人由攀爬机构、采摘机械臂、视觉传感器、末端剪切机构组成。通过Adams软件模拟垂直攀爬和水平旋转运动，并对机械臂进行工作空间可视化，验证机构的合理性。采摘试验结果表明，当电压在12 V以下时，攀爬速度与电压呈线性关系，且稳定性满足要求；末端执行机构在电压值为15~24 V时，单果平均剪切时间为2.8 s，平均采摘成功率为81.5%，且随着电压升高，采摘所需的时间逐渐缩短。为椰子采摘机的设计提供理论依据和试验验证，为未来椰子采摘机器人的开发和应用提供一定的指导。

关键词: 椰子, 攀爬式采摘机, 爬树机构, 动力学仿真, Adams