Research On The Software Robot For Fruits And Vegetables Picking In Greenhouse

Fruit and vegetable production in China accounts for a large proportion of that in the world.But compared with the western developed countries,the harvesting automation level of our country is pretty low.At present,the agricultural harvesting in China is mainly done by manual operation.Therefore,it is imperative to make some research on agricultural picking robots and realize the automation of agricultural picking.This paper reviewed the research status of fruit and vegetable picking software manipulators at home and abroad,and put forward some problems in it.The geometry and physical properties of the gripped object are analyzed,so the gripping diameter of the soft gripper could be determined according to its geometrical characteristics,and the basic conditions to effectively grasp the fruit and vegetables are given by the physical properties.Comparing and analyzing the advantages and disadvantages of several common driving methods in the field of software robots,and determining the driving method used in this study.According to the analysis,the joints and the number of the picking hands were determined,so the overall structure of the picking hand was finally obtained,and then it could be produced.In addition,the structure of the soft hand is optimized to enhance the air tightness of the system.This paper completed the finite element analysis of the soft manipulator statics based on the ANSYS software platform,the deformation curves and stress curves of the fingers under different air pressure values are obtained respectively.The software robot experimental platform was built and the system hardware and software development was completed.Simulation of the pneumatic control system was completed based on MATLAB/SIMULINK.The incremental PID algorithm is used to complete the stable control of the system air pressure.The experimentally has made some tests to study the size of the mechanical manipulator clamping force,bending deformation and clamping stability of fruits and vegetables of different sizes;the results show that the clamping force increases with increasing air pressure,and so does the bending amount,and the maximum clamping force can reach 568 g,the experiment separately grabs the target of different sizes and shapes,while giving the different air pressure(clamping force),the soft finger can stably grasp the fruit and vegetable.