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    苏州十店文峰美容美发 Ѷ:ָ˹MODEL S ´綯γ-Mobile

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    ؼʣժе֣еۣĩִл˶ѧѧ

    Abstract

    China is the largest producer and consumer of fruits and vegetables in the world,and theoutput of fruits and vegetables ranks first in the world steadily.Fruit and vegetable harvestingis the most time-consuming and laborious link in the production chain.At present,most fruitsand vegetables in China are picked manually,and the cost of picking accounts for 50%-70%ofthe cost.Mechanized harvesting of fruits and vegetables is of great significance to solve theproblems of insufficient labor force,high production cost,low production efficiency andimprove the market competitiveness of fruits and vegetables.

    In this paper,the structure design of apple harvesting manipulator is carried out.A kind ofharvesting manipulator with Four-Degree-of-Freedom connecting rod manipulator is proposed,and a structure form of shearing end·effector is developed.The optimum structure scheme isdetermined by theoretical analysis.The simulation results show that the apple pickingmanipulator designed in this paper has good picking performance.Specific research contentsare as follows:

    1The environmental characteristics of Apple plantations in China were analyzed,theplanting spacing and rOW spacing of apple orchards were determined.the distributioncharacteristics and rules of apples on fruit trees were analyzed,the distribution area of appleson fruit trees was determined,and the physical performance parameters of picking objects weredetermined,which provided basic data and basis for the design of the overall scheme ofpicking manipulator.

    2According tO the environmental characteristics of Apple plantation and the actualworking requirements of apple harvesting manipulator,the driving mode of the harvestingmanipulator was reasonably selected,the degree of freedom of the harvesting manipulator,theform of the end-effector and the structure mode of the harvesting manipulator were determined,and the overall design scheme of the apple harvesting manipulator was completed,which laid afoundation for the structural design of the harvesting manipulator

    3According to the overall design scheme of the apple picking manipulator and thephysical characteristics of apple,the structure design of the end·effector of the pickingmanipulator is carried out in detail;according to the structure and shearing action requirementsof the end-effector of the picking manipulator,the structure design of the end-effector of thepicking manipulator is carried out;finally,according to the structure of the manipulator,thedynamic part of the manipulator is set up.Finally,the structure design of the pickingmanipulator is completed.

    4The correctness of the size of the picking manipulator arm and the stability of themanipulator operation were tested by atlas analysis and kinematics analysis.The results showthat the working space of the picking manipulator can completely cover the distribution spaceof apples on fruit trees,and the size design of the manipulator is correct.The kinematics curvesof the end-effector and the manipulator are smooth,the picking manipulator runs stably and thestructure design is reasonable.

    5Finite element analysis of the load-bearing structure of the manipulator is carried out,and the load-bearing structure of the manipulator is optimized according to the analysis resultsand the requirements of picking accuracy of the manipulator.The maximum displacement ofthe manipulator after optimization.The shearing mechanism of the manipulator is analyzed,and the relationship between the cutting edge angle and the shearing force and the deformationof the tool is studied.Finally,the optimal tool angle is determined.

    According to the working environment of the picking manipulator and the physicalcharacteristics of the picking object,a new type of apple picking manipulator with connectingrod manipulator and shearing end-effector was designed in this paper.The manipulatoreffectively improves the quality and efficiency of apple picking,reduces the labor intensity andcost of apple picking,and improves the market competitiveness of apple.The method used inthis paper can provide reference for the development and research of other fruit and vegetableharvesting machinery and equipment

    Key words,picking manipulator;manipulator;end-effector;kinematics analysis;staticsanalysis

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