现代农业装备2026，Vol.47Issue(3)：79-87,9.DOI:10.3969/j.issn.1673-2154.2026.03.007
振枝式林果采摘多轴机械臂系统软硬件架构设计
Design of a Software and Hardware Architecture for a Multi-axis Mechanical Arm System in Fruit Harvesting Based on Vibration
摘要
Abstract
Aiming at the requirements of high reliability and flexible parameter adjustment in vibration-based fruit harvesting,a remote-controlled multi-axis mechanical arm system with a branch-shaking mechanism was proposed,focusing on the overall software and hardware architecture.The system adopted an open-loop control strategy based on a velocity loop,enabling parallel motion of multiple axes through remote control commands.The vibration frequency and motion speed can be adjusted online to adapt to different operating conditions.On the hardware side,a multi-axis control platform based on the STM32H743ZIT6 micro-controller was developed,and multiple communication interfaces were integrated to support information exchange within the system and with external devices.On the software side,a real-time operating system was employed to uniformly schedule multi-axis control tasks,communication management tasks,and system monitoring tasks.A layered software architecture was further constructed to enhance system maintainability and scalability.Functional verification of the prototype system demonstrated that the proposed software and hardware architecture can stably support the operational process of branch grasping and vibration-based fruit harvesting by a multi-axis mechanical arm,thereby validating the engineering feasibility of the system architecture.The proposed work provides a practical reference for the architectural design and engineering implementation of vibration-based multi-axis fruit harvesting robotic systems.关键词
林果采摘/遥控/嵌入式系统/软件架构/多轴机械臂系统Key words
forest fruit harvesting/remote control/embedded system/software architecture/multi-axis mechanical arm system分类
农业科技引用本文复制引用
张凯凯,李松兵,谢佳艳,万子平..振枝式林果采摘多轴机械臂系统软硬件架构设计[J].现代农业装备,2026,47(3):79-87,9.基金项目
广东省基础与应用基础研究基金(2024A1515110104) （2024A1515110104）
湖南省农业农村厅农机研发制造推广应用一体化试点专项(HNNJ-2025-07) （HNNJ-2025-07）
