工程设计学报2025，Vol.32Issue(1)：51-61,11.DOI:10.3785/j.issn.1006-754X.2025.04.126
成簇沙果采摘末端执行器的设计及实验研究
Design and experimental study of end-effector for picking clustered crabapple
摘要
Abstract
In order to solve the problems of low success rate,easy damage to fruits and unreasonable picking methods in the process of mechanical picking of clustered crabapple,a rigid-flexible coupling end-effector for picking clustered crabapple was designed.The soft fingers made of silica gel were used to wrap the crabapple,and the crabapple stalks were cut using the method of cutting.The effects of shear air pressure,blade thickness and driving air pressure on the picking success rate and their value range were determined through single factor test.On this basis,the response surface analysis of three factors and three levels was conducted to study the interactive effects of each factor on the picking success rate.The quadratic regression model was established with the success rate of picking four-and five-fruits as the response value,and the picking success rate was used as the evaluation index to optimize each factor.The results showed that the influence on the picking success rate was shear air pressure,blade thickness and driving air pressure in order from large to small.When the shear air pressure was 0.260 MPa,the blade thickness was 0.4 mm,and the driving air gas pressure was 0.09 MPa,the end-effector had the highest picking success rate,and the success rate of picking three-,four-and five-fruits could reach 100%,100%and 91.29%,respectively.The results of parameter optimization were verified by experiment,and showed that the picking end-effector could complete the picking task,and the success rate of picking three-,four-and five-fruits could reach 100%,100%and 91%,respectively,meeting the expected picking requirement.The use of the end-effector can reduce the labor force of picking crabapple and provide a new idea for the picking of other clustered fruit.关键词
成簇沙果采摘/末端执行器/响应面优化/采摘成功率Key words
picking clustered crabapple/end-effector/responsive surface optimization/picking success rate分类
机械工程引用本文复制引用
李三平,王琦宇,吴立国,袁龙强,齐佳美,孙腾佳..成簇沙果采摘末端执行器的设计及实验研究[J].工程设计学报,2025,32(1):51-61,11.基金项目
中央级公益性科研院所基本科研业务费专项资金资助项目(CAFYBB2020MB010) （CAFYBB2020MB010）
中央高校基本科研业务费专项资金资助项目(2572014BB06) （2572014BB06）
