Abstract: In view of the lack of physical characteristics of Pleurotus eryngii, the morphological characteristics of Pleurotus eryngii were determined and the mechanical properties were tested. The 3D model of Pleurotus eryngii was obtained by using 3D laser scanner. The model was analyzed and the parameters of morphological characteristics were obtained. The compression, shear and bending tests of Pleurotus eryngii were carried out with a texture meter, and the elastic modulus, compressive strength and shear strength of the head, middle and tail of Pleurotus eryngii, as well as the flexural strength and bending elastic modulus of the whole root were obtained under different loading speeds. The results showed that the morphology of Pleurotus eryngii was wide at both ends and narrow in the middle, and the coefficient of volume phenotypic variation was 38.06%, indicating that the morphological differences of different Pleurotus eryngii were significant. Under different loading speeds, the compressive strength and elastic model of the center of Pleurotus eryngii were higher than those of the head and tail, while the shear strength was between the head and tail, and the flexural strength and flexural elastic modulus were about 0.2 MPa and 0.069 MPa, respectively. The experimental results can provide theoretical guidance for Pleurotus eryngii to grasp the end effector.

Key words: Pleurotus eryngii, three?dimensional reconstruction, morphological characteristics, mechanical property, phenotypic variation

摘要： 针对目前缺乏杏鲍菇的物理特征参数，测定杏鲍菇形态特征并开展力学特性试验。利用三维激光扫描仪获取杏鲍菇的三维模型，分析该模型并得到形态特征参数；采用质构仪开展杏鲍菇的压缩、剪切以及弯曲试验，得到杏鲍菇在不同加载速度下头部、中部与尾部的弹性模量、抗压强度与剪切强度以及整根的抗弯强度与弯曲弹性模量。结果表明：杏鲍菇的形态呈现两头宽中间窄，体积表型变异系数为38.06%，表明不同杏鲍菇的形态差异较为显著；在不同加载速度下，杏鲍菇中部的抗压强度以及弹性模型高于头部与尾部，而剪切强度介于头部与尾部之间，抗弯强度及弯曲弹性模量分别约为0.2 MPa与0.069 MPa。为后续杏鲍菇抓取末端执行器提供理论指导。

关键词: 杏鲍菇, 三维重建, 形态特征, 力学特性, 表型变异系数