The Experimental Study And Design Of A Mechanical End Effector For Picking Papayas

Papaya has a fine reputation which is called “Lingnan delicious fruit” and it is a kind of tropical special fruit which owns extensive development prospect in China. Now, the papaya's harvest using mechanistic fashions are less than manual basises at home and abroad. Therefore, a papaya picking mechanical end effector has been designed and verified its feasibility on account of papaya's external physical characteristic and its biomechanical properties. This text's main content include:1)On the basis of taking two papaya varieties as research objects, papayas' surface models have been reestablished which make use of Sense 3D scanner, Sense software and Geomagic Studio software. Papayas' shape characteristic parameters were extracted by Pro/E software. These are based on Reverse Engineering Technology.2)Mechanical property experiments are aimed at papayas' intact fruits on condition of two varieties and two maturities. Papaya intact fruits' Compressive Deflectionexists relationship to some parameters including Press-force, Severity and Elasticity modulus on the same loading rate conditions. Its intact fruits' Press force applies to Compressive Deflection on the different loading rates. Table tennis rubber hasbeen used for the end effector by means of contrasting friction coefficients acting on several rubber materials and papaya's epidermis at dry and moist environments.3)According to the analysis of papaya's growth characteristics and the acquisition to mechanical parameters which come from three kinds of tests that respectively were cutting, snapping and wring, the final decision was the way of wring. The software of SPSS and the analysis of variance, regression and dependency have been used to confirm influence factors belonging to wring.4)The basic functions of the end effector mainly contain two aspects on account of organizational overall project. Firstly, the structural scheme was ensured in terms of the under-actuated principle. Meanwhile, the only electrical machine and the organizational crucial sizes were also determined. The manipulator's three-demensional model was designed by the software of Solidworks,and consists of three finger mechanisms, one palm mechanism, driving mechanism and connect components. Secondly, the control system covers a made circuit board, a 24 V direct-current main, a bilateral switch and a potentiometer.5)The physical prototype model of papaya end effector was produced and assembled successfully by 3D Print technology. The field picking experiments using the solid model verified these data of the picking success rate, damage rate, and harvest time. We put forward correspondent measures.