农业机械学报2018，Vol.49Issue(1)：35-41,7.DOI:10.6041/j.issn.1000-1298.2018.01.004
夹剪一体的荔枝采摘末端执行器设计与性能试验
Design and Testing of Litchi Picking End-effector Integrated Clamping and Cutting Performance
摘要
Abstract
Aiming at mechanized picking of litchi fruits with low damage and high efficiency,an endeffector integrated clamping and cutting of litchi picking robot with single power source drive was designed firstly.Secondly,the cutting mechanical model and the stabilized clamping mechanical model of the litchi serial fruit mother branch were constructed.Thirdly,the force sealing of clamping module was analyzed,on this basis,the normal pressure computation model of stabilized clamping with three points contact was derived.At last,the physical prototype of end-effector was manufactured and the work performance tests were executed.The performance tests included picking test,load test and antiocclusion interference test.The experiment results indicated that the litchi picking end-effector well preformed in weight clamping with maximum dynamic weights of 1.33 kg and 3.01 kg when the diameters of fruit mother branches were 3 mm and 7 mm,respectively.What's more,the litchi fruit was stably clamped and the branch was cut quickly when picking with average time of clamping and cutting of 2 s.The success rate was 100％ when the diameters of the fruit mother branches were lower than 5 mm.The average success rate was 70％ when the diameters of the fruit mother branches were between 6 mm and 7 mm.Besides,the end-effector had medium picking ability of anti-occlusion interference.关键词
荔枝串果/采摘/末端执行器/夹剪一体/力学模型/性能试验Key words
litchi fruit mother branch/picking/end-effector/clamping and cutting integration/mechanical model/performance test分类
信息技术与安全科学引用本文复制引用
陈燕,蒋志林,李嘉威,王佳盛,刘威威,邹湘军..夹剪一体的荔枝采摘末端执行器设计与性能试验[J].农业机械学报,2018,49(1):35-41,7.基金项目
国家自然科学基金项目(31571568)和广东省科技计划项目(2014A020208091、2015A020209120、2015A020209111) （31571568）
