中国农业科技导报2025，Vol.27Issue(5)：113-121,9.DOI:10.13304/j.nykjdb.2023.0937
椭圆夹爪剪切式火龙果采摘末端执行器设计
Design of Shear End Effector for Dragon Fruit Picking Based on Oval Claw
摘要
Abstract
Aiming at the difficultly picking problems of dragon fruit,such as complex growing environment,diverse growth posture,high shear strength of stems in branches and easily damaging peel near fruit pedicle,a kind of cutting end effector of dragon fruit picking based on oval claw was designed to pick dragon fruit in different growing posture without damage.The elliptical grippers were capable of separating the fruit from the branches,thus protecting the integrity of the fruit.By incorporating V-shaped grooves on the elliptical grippers,it accommodated dragon fruits with different inclinations,preventing obstacles from branches during gripping actions.The dragon fruit harvesting method adopted a pre-cut and pull approach.Mechanical analysis of the gripping and cutting mechanism determined the minimum cutting force to be 33.5 N,and appropriate power sources were selected accordingly.A model for the pulling force during dragon fruit harvesting after cutting was established.Through finite element analysis and comparison with manual cutting force tests in the orchard,an average pulling force of 20 N was measured,which did not damage the fruit.A physical prototype was constructed and subjected to 15 gripping experiments and 25 field cutting trials in the orchard.Experimental results demonstrated that the harvesting range of the end effector surpasses the existing dragon fruit positioning accuracy significantly.The end effector can harvest dragon fruits with inclinations ranging from 50° to 90° with an average inclination of 75°,the average harvesting time is 3.1 s with a success rate of 92%,the average length of the cut leaves was 55.3 mm,which could meet the picking demand.关键词
末端执行器/火龙果/椭圆夹爪/剪切式/性能试验Key words
end effector/dragon fruit/elliptical grippers/shear-type/performance testing分类
信息技术与安全科学引用本文复制引用
陈桥,肖明玮,罗陈迪,高嘉正,欧阳春凡,曾春林,李文涛,周学成..椭圆夹爪剪切式火龙果采摘末端执行器设计[J].中国农业科技导报,2025,27(5):113-121,9.基金项目
国家重点研发计划项目(2017YFD0700602). （2017YFD0700602）
