农机化研究2025，Vol.47Issue(3)：103-110,8.DOI:10.13427/j.issn.1003-188X.2025.03.016
圣女果串采收末端执行器的设计与实验
Design and Experiment of Cherry Tomato Bunch Picking End Effector
摘要
Abstract
In order to improve the harvesting efficiency and reduce fruit damage,a terminal actuator for the harvesting of virgin fruit strings was designed.The terminal structure used a planar four link drive clamping and shearing mechanism,and the clamping mechanism used a self compensating design to integrate the clamping and shearing actions.Based on the spiral theory,a contact model was established to verify and analyze the force closure of the clamping structure.The dynamics and kinematics analysis and simulation of the entire device were carried out.The indoor experimental results showed that the success rate of the whole string picking experiment was 100%,and the success rate of shearing was 86.7%.关键词
圣女果/串采收/末端执行器/夹持剪切一体化/运动学仿真Key words
cherry tomato/tandem harvesting/end effectors/clamping and shearing integration/kinematics simulation分类
农业科技引用本文复制引用
李小平,孙丙宇..圣女果串采收末端执行器的设计与实验[J].农机化研究,2025,47(3):103-110,8.基金项目
中国科学院合肥物质科学研究院院长基金项目(YZJJZX202013) （YZJJZX202013）
