Design And Experiment Of The End Actuator Of Intelligent Greenhouse Tomato Picking System

At present,the design schemes of the end actuators of fruit and vegetable picking machines are mostly suction-type picking,sleeve picking,vibrating picking,and full-drive picking.In the actual working environment,due to the contact between the end of the fruit and vegetable picking machine and the fruit,it is often Because the grasping range and the grasping force are too large,causing mechanical damage to fruits and vegetables and reducing economic benefits,in order to achieve mechanized picking,it is necessary to design a safe and reliable manipulator end effector.The application of the underactuated structure design of the end actuator has many advantages such as clever mechanism and simple control,and is an effective way to design the end actuator.This paper takes tomato as the object of picking,carefully studies the development status of tomato picking machine,designs an end-executing mechanism of under-driven tomato picking robot that can meet the requirements of current tomato picking,and analyzes the kinematics model of the design.A physical prototype was created by 3D simulation.The main research contents and results of this paper are as follows: 1)The development status of tomato picking machinery was carefully studied,and an end-executing mechanism for under-driven tomato picking robot that can meet the current tomato picking requirements was designed.2)The kinematics model of the end effector mechanism of the tomato picking manipulator is established,and the(angular)displacement,(angular)velocity and(angle)acceleration are analyzed to obtain the parameters of the actuator mechanism,which provides a favorable theory for the subsequent model establishment.Based on,and through MATLAB optimization analysis of structural parameters.3)Using the computer aided design software SolidWorks to complete the 3D solid modeling of the end actuator,verifying the achievability of the mechanism,and verifying the rationality of the mechanism through the large amount of data of ANSYS.4)Developed the prototype of the end effector and set up the test bench to carry out the gripping test on the end actuator,verifying the feasibility of the design of the device,test the magnitude of the contact force and the speed of the end actuator to verify the reliability of the end effector.