Design And Experimental Study Of Comb-toothed Blueberry Picking Robot

Blueberry is a family of azaleas and bilberry.It has the functions of preventing brain nerve aging,protecting eyesight and enhancing human immunity.It is one of the top five healthy fruits recommended by FAO in the world.Due to the high medicinal value and economic value of blueberries,the planting area of blueberries is increasing.The main picking method of blueberry is basically the traditional manual picking,which makes picking difficult.At present,China's blueberry picking machinery is in the research and design stage.Based on the biological characteristics of blueberries and the growing environment of blueberries,a blueberry picking robot suitable for China was developed,and a three-dimensional simulation analysis and kinematics analysis was performed on the blueberry picking robot,a physical prototype of a blueberry picking robot,and a comb spacing of the blueberry picking robot.The size was experimentally studied.Realize the mechanization and intelligence in the blueberry picking process.Based on the reading of references and the biological characteristics of blueberries,the structural parameters of picking robots were determined based on the growth environment of blueberry plants,the structure of the combed blueberry picking robots was determined,and the graphical method was used to determine the combing blueberry picking robots.In the workspace,a three-dimensional model of comb-blueberry picking manipulator was established using Por/E three-dimensional software.Interference detection and simulation analysis were performed.The results showed that the blueberry picking manipulator had no interference phenomenon and was stable in operation.The finite element analysis of the picking comb teeth shows that the strength and stiffness of the picking comb teeth meet the requirements.The DH parameter method was used to establish the link coordinate system of the combed blueberry picking manipulator and the kinematics equation of the combed blueberry picking manipulator.The MATLAB software was used to simulate and analyze the combing blueberry picking manipulator and the space scope of picking was obtained..According to the kinematic equation,the Jacobian matrix of the comb blueberry picking manipulator was established,and the joint speed relationship of the picking manipulator was obtained.The dynamic simulationanalysis of the combed blueberry picking manipulator was performed using ADAMS software,and the blueberry picking manipulator was obtained.The relationship between joint angular velocity and the correctness of kinematics theoretical analysis of blueberry picking manipulators was verified.A physical prototype of a combed blueberry picking robot was made.At the same time,the drive method and control part of the comb blueberry picking robot were selected.The comb tooth spacing of the combed blueberry picking robot was tested.The results showed that the distance between comb teeth in the blueberry picking mechanism ranged from 7.0 to 8.5mm,which was the best for blueberry picking.