| With the rapid development of new agricultural production mode and the wide application of new technology, people paid more and more attention to the agricultural robot, and it will be the main force of agricultural production gradually. As the important type of agricultural robot, picking robot can improve the labor productivity and working quality,reduce the labor intensity,and get the crop production data to direct it,so it has a very large potential of development.At present,people have researched and developed many kinds of agricultural picking robot system,but most of them are at the experimental stage,their size are large and their picking object are single,and it’s hard to improve the picking efficency,so that the low intelligence make it difficult to meet the demand of the agricultual market.Therefore,carry out the relevant research actively to solve the above problem has important practical significance.This study looked at a large amount of relevant literature, and analyzed the development trend and existed problem of the picking robot and manipulator at home and abroad. In order to look for the method to solve the above problem, the thesis studied and analyzed a new kind of picking robot for ellipsoidal fruits and vegetables that has a new kind of replaceable manipulator with flexible shaft type, and also did some mechanism design and modeling, kinematics and dynamics analysis, behavior control simulation and relevant experimental verification for them. The main contents are as follows:(1) Using virtual prototype technology to complete the design of robot mobile platform’s overall structure, and the theoretical analysis,3d modeling and motion simulation analysis are carried out on the crawler-type chassis and robot body, meanwhile, do the crawler-type chassis’s operating experiment through establishing the PC communication, so as to verify its realistic feasibility.(2) Using virtual prototype technology to design a new kind of picking manipulator with flexible shaft type for ellipsoidal fruits and vegetables and a kind of mechanical arm that modeled on the people’s arm, and the3d modeling and simulation analysis are carried out on them, at the same time, this study carry out the experiment of relevant fruits’mechanical properties to calculate and analyze the end effector’s clamping force, so as to avoid the clamping loose occurred in the process of picking operation or squeeze the damage on the fruit.(3) Do kinematics and dynamics analysis of the robot’s picking manipulator in theory, and then establish the picking manipulator’s kinematical equation, dynamic equation and Lagrange function, and also carry on the kinematics simulation analysis and dynamic mechanical analysis using MATLAB and ADAMS, so as to lay the foundation of the picking manipulator’s path planning and speed control in the process of operation.(4) Set up the picking robot’s control system, establish the PC communication, and use MATLAB to compile the visual control interface, and then do the harvesting experiment (Tomatoes, for example) through the picking manipulator’s behavior control based on the robot mobile platform.This article studied on the picking robot for ellipsoidal fruits and vegetables through the main content above, finished its design, analysis, assembly and experiment, and also obtained the robot’s basic kinematic parameters, dynamic mechanical parameters and a complete set of picking path planning. The experimental results showed that the robot operates stably, and it has a large picking range and picking efficiency that meets the expectations. This study can help to improve the robot’s picking diversity and efficiency, and reduce the fruit and vegetable’s damage rate to lay the foundation for the implementation of the agricultural picking robot’s universality and commercialization. |
