Research On End-Effector Of Citrus Harvesting Robot

Fruit and vegetable harvesting is the much important section of agriculture industry. Citrus production is one of the main industry fruit production in Zhejiang province. Citrus harvesting by hand is the most time-consuming and strenuous section during the process of citrus production. As final executing manipulator for robot to interact with outside environment, the terminal actuators have been paid much attention. In particular at the research field of agriculture, as the specificity of the operational objectives of the robots, End-Effector research becomes to be the one of the key technology of the agriculture robot especially of fruit and vegetable harvesting robot. This thesis did some research on mechanical properties of citrus based on robotic harvesting, then, did some research on the key technology of citrus gripping and separating of citrus separating. Devised an end-effector based on flexible pneumatic actuator FPA, being used for robotic harvesting, and then established the its mathematical model. This end-effector is flexible and safe for citrus harvesting.This thesis did some research on new type of Flexible pneumatic bending joint and its basis properties based on FPA first, then established the static deflection properties and export force properties model. Did some experiments of compressive resistance properties, frictional characteristics of citrus and properties of citrus'peduncle cutting, All about provided exactly basis to design robotic End-Effector for citrus harvesting.This thesis established dynamic model of the three fingers hand based on grasping property research, And the model could be used for citrus robotic harvesting with the hand. Also the thesis did some experiment to verify the model.