农机化研究2025，Vol.47Issue(1)：46-53,8.DOI:10.13427/j.issn.1003-188X.2025.01.008
油茶花苞采集机械手的设计与试验
Design and Test of Manipulator for Camellia Oleifera Flower Buds Collecting
摘要
Abstract
In hilly regions,there is a large number of camellia oleifera forests,and currently,there is no mechanized e-quipment available for collecting camellia oleifera flower buds.This study designed a six-degree-of-freedom manipulator for collecting camellia oleifera flower buds.By analyzing the biological characteristics of camellia oleifera flower buds,the rotary-twist end effector could achieve efficient collection with a clean rate of 90%.The size of the manipulator was de-termined by the manipulator workspace analysis;and the end effector was loaded onto the manipulator for field test.The results showed that the six-degree-of-freedom manipulator equipped with the rotary-twist end effector could reach the boundary position within the collecting range.The maximum devications in the x,y and z directions was 3.4 cm,3.3 cm and 3.4 cm,respectively.It provided a basis for the intelligent collection of camellia oleifera flower buds.关键词
采集机械手/生物学特性/末端执行器/油茶花苞Key words
collecting manipulator/biological characteristics/terminal actuator/camellia oleifera flower buds分类
农业科技引用本文复制引用
赵青,李立君,吴泽超,李骏,郭鑫..油茶花苞采集机械手的设计与试验[J].农机化研究,2025,47(1):46-53,8.基金项目
"十四五"国家重点研发计划项目(2022YFD2202103) （2022YFD2202103）
湖南省重点研发计划项目(2021NK2023) （2021NK2023）
