农机化研究2024，Vol.46Issue(2)：23-30,8.
香蕉采摘与吊运作业机器人运动与动力性能分析
Motion and Dynamic Performance Analysis of Banana Picking and Lifting Robot
摘要
Abstract
Due to the large fruit height and shape size of banana fruit string,and it is easy to damage in the picking process,which brings great difficulty to banana picking.At present,it still stays in the relatively backward manual pick-ing mode,with high labor intensity.This paper presents a kind of banana picking and lifting robot,which can cut and hold the banana fruit handle and lift the banana fruit string as a whole.The mechanical system is mainly composed of ser-vo link manipulator,clamping and cutting end effector and hydraulic crawler walking power unit.The diameter range of the end effector is 40-150 mm,and the maximum walking speed of the hydraulic crawler is 1.07 m/s.The working range of the servo link manipulator was obtained through the motion and dynamics simulation analysis of the mechanical system based on ADAMS.Based on the banana planting mode of wide narrow row suitable for mechanization,the servo driving operation process close to the actual situation was simulated,and the driving ability of each servo motor was veri-fied.关键词
香蕉/采摘与吊运作业机器人/混联机构/运动仿真/动力性能Key words
banana/picking and lifting robot/hybrid mechanism/motion simulation/dynamic performance分类
农业科技引用本文复制引用
张日红,欧炬基,朱立学,李小敏,林桂潮..香蕉采摘与吊运作业机器人运动与动力性能分析[J].农机化研究,2024,46(2):23-30,8.基金项目
广州市科技计划项目(201804010480) （201804010480）
广东省重点领域研发计划项目(2019B020223003) （2019B020223003）
广东省现代农业产业技术体系创新团队项目(2019KJ139) （2019KJ139）
