南京农业大学学报2025，Vol.48Issue(3)：671-685,15.DOI:10.7685/jnau.202403055
包络式金丝皇菊采摘机械手设计与试验优化
Design and experimental optimization of an enveloping golden chrysanthemum harvesting manipulator
摘要
Abstract
[Objectives]Considering the problems of long chrysanthemum stems and significant damage to filaments in the existing chrysanthemum harvesting machinery,a new type of golden chrysanthemum picking manipulator was designed.[Methods]Based on the agronomic conditions and harvesting requirements of the golden chrysanthemum,the cross-ridge architecture and key operational component structures for the harvesting robot were clarified.The structure of picking robotic arm was obtained and optimized.By measuring the material characteristics of golden chrysanthemum,an enveloping picking manipulator was designed.By applying mathematical modeling and curve fitting to the outline of golden chrysanthemum,the structure of envelope components was determined.By establishing a tool-stem cutting mechanics model and performing dynamic analysis of the stem cutting mechanism during stem separation,the servo output speed,the inclination angle of the cutting edge,and the cutting angle of the cutting surface were identified as the key factors influencing the operation outcome and the range of values for each factor was confirmed.A three factor five level rotational-combinational optimization experimental plan was conducted.The experimental data were analyzed by methods of response surface and variance.[Results]The optimized parameters of the golden chrysanthemum picking manipulator were as follows:the servo output speed of 16.98 r·min-1,the inclination angle of the cutting edge of 25.9°,and the cutting angle of the cutting surface of 21.1°.The golden chrysanthemum picking tests under the optimal parameters were carried out.The success rate of picking was 91.37%,the damage rate of filaments was 7.93%,and the qualified rate of retaining stems was 91.04%.[Conclusions]A cross-ridge picking robot for golden chrysanthemum had been designed and developed.It can provide technical reference for mechanized harvesting of golden chrysanthemum.关键词
金丝皇菊/机械手/包络式采摘/花茎分离/响应面Key words
golden chrysanthemum/manipulator/enveloping harvesting/flower stem separation/response surface分类
农业科技引用本文复制引用
王延鑫,汪小旵,李培艺,卢美光,杨震宇..包络式金丝皇菊采摘机械手设计与试验优化[J].南京农业大学学报,2025,48(3):671-685,15.基金项目
江苏省现代农机装备与技术示范推广项目(NJ2021-11) （NJ2021-11）
