现代农业装备2026，Vol.47Issue(4)：10-19,10.DOI:10.3969/j.issn.1673-2154.2026.04.002
高架草莓采摘机械手设计与试验
Design and Experiment of Elevated Strawberry Picking Manipulator
摘要
Abstract
Aiming at the problems of low operational efficiency and poor picking quality in the automated strawberry picking process of elevated facilities,a mechanical arm for elevated strawberry picking had been designed.Through the combination of rigid and flexible robotic arms,precise picking of strawberries in different poses was achieved,and a clamping and shearing integrated end effector was used to improve picking efficiency.At the same time,the hardware and software structures of the key component mechanism parameters and control system were designed.The response surface test method was used to study the effects of clamping force,moving speed,and blade angle of the picking end effector on the success rate of strawberry picking,and verification experiments were conducted.The response surface test results showed that the significance of the experimental factors was in the order of blade angle,moving speed,and clamping force.The optimal combination parameters were blade angle of 16.83°,moving speed of 0.5 m/s,and clamping force of 0.95 N.When the blade angle was 16.83°,the moving speed was 0.5 m/s,and the clamping force was 0.95 N,the highest success rate of strawberry picking is 85.71％.The verification experiment showed that the operation process of the elevated strawberry picking robot was stable,with an average picking success rate of 82.54％and an average single fruit operation time of 11.68 seconds.The designed elevated strawberry picking robot had good flexibility and stability,which can provide reference for improving the automation level of elevated strawberry picking.关键词
高架草莓/机械手/刚柔组合/参数优化Key words
elevated strawberry/manipulator/combination of rigidity and flexibility/parameter optimization分类
农业科技引用本文复制引用
崔永杰,王明辉,闫佳宝,吴哲雄..高架草莓采摘机械手设计与试验[J].现代农业装备,2026,47(4):10-19,10.基金项目
陕西省重点研发计划(2019ZDLNY02-04) （2019ZDLNY02-04）
江西绿领农业科技有限公司委托项目(20250092302047) （20250092302047）
