Design And 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 fruit industry in Chongqing Municipality and even the southwest China.But citrus picking by hand is an extremely time-consuming and fiddly job.It cases picking concentration,strong labor intensity and inefficient.As final executing manipulator for robot to interact with outside environment,the terminal actuators which is indispensable of robot have been paid much attention.In particular at the research field of agriculture,as the particularity of the picking object,end-effector research is the one of the key technologies of the agriculture robot which harvesting fruits and vegetables.Its performance directly affects the robot picking efficiency.It has just begun of citrus harvesting end-effector research in domestic and the reports were less.To solve this problem,a new type of citrus harvesting end-effector was developed in this project.The content of the thesis reports are as follows:Based on the picking robot of citrus fruit stalk and characteristics of robot research work environment,the innovative designing method TRIZ theory was used during the process of designing determine its principle.Based on the bionics principle,the configuration of two kinds of end effector transmission mechanism is designed with the snake mouth as the prototype,that is,heterotypic four-bar mechanism and the general hinge four-bar mechanism.Finally,through the comparative analysis,the final configuration of the transmission mechanism is determined,and the preliminary model is completed.The dimension design,the optimization and standard parts selection of end-effector is completed.On account of the actual picking task,the cutting parts was designed and its working mechanism was analyzed.Cutting effect is verified by experiments.By comparing the natural vibration mode of end-effector and the working frequency of manipulator motor,the rationality of the structural was confirmed.Finally,the finite element modal analysis of the end-effector was carried out.It deeply describes the principle of the harvesting process of the creation,including the mechanical analysis of the suctioning-pulling process and the posture of end-effector when it's working.Based on the process of the end-effector running,the control system was achieved.The parameter of negative pressure suction branch of the pneumatic system is calibrated to complete the design of the pneumatic driving system.Connecting the model information of end-effector to robot operating system,the communication of lower controller-Arduino and host computer-PC is completed.The execution platform of citrus picking system is finished.The experiment of the end-effector picking and its analysis are completed.