Research On The Design Of New Apple Picking Robot

Apple picking seasonal obvious,physical labor,but also has a certain risk.Using picking robot to pick,on the one hand can reduce the workload of workers,improve the operating environment;On the other hand,it can reduce production costs and improve economic benefits.Because the picking robot is restricted by many factors,its technology is not mature enough.This paper takes the apple picking robot as the research object.The picking arm of the picking robot has a low degree of freedom and poor flexibility to avoid obstacles.As well as the disadvantages of the picking robot with complex overall structure and high cost,a six-dof joint coordinate apple picking robot was designed and the virtual prototype model and kinematics model of the robot were established.Then,the kinematics and static characteristics of the virtual prototype were studied,and the key parts of the robot were optimized.The rationality of the optimization results was verified by simulation experiments.The main research contents and results of this paper are as follows:(1)Overall design of picking robot.Aiming at the problem of poor obstacle avoidance of the picking arm,a six-dof articulated manipulator is designed.Aiming at the complex structure and difficult control of the robot,a two-finger pneumatic picker is designed.Finally,the overall design scheme and relevant technical parameters of the picking robot are determined.(2)Analysis of motion characteristics of picking robot.According to the kinematics characteristics of the picking robot,D-H post-coordinate method is used to establish the attached coordinate system and kinematics equation of the robot.The working space of the robot was simulated by MATLAB,and the picking range of the robot was compared and analyzed to determine the picking robot arm length range.The velocity and acceleration of the robot are analyzed,and the velocity jacobian matrix and the velocity expression of the end picker are solved.The picking trajectory is planned and the angular velocity and acceleration of joint space are simulated.(3)The virtual prototype model is established and the structural problems are studied.the two-finger pneumatic picker was established and its Angle size and bearing capacity were quantitatively analyzed.The three-degree of freedom(RBR)wrist was established and its transmission system was designed.The robot basestructure was established and the waist motor was selected for design.Finally,the whole structure of the picking robot is designed and assembled.(4)Static research and optimization design of picking robot.carry out ANSYS static analysis and modal analysis on the whole picking robot to verify the strength,stiffness and stability of the robot.The topology optimization design of the key part of the big arm is carried out to reduce the quality of the big arm,and the optimization design of the prototype model is finally realized.This paper focuses on the design and research of the mechanical arm and the structure of the end picker of the picking robot,so as to provide theoretical basis and design scheme for the analysis of the dexterous obstacle avoidance performance of the agricultural fruit and vegetable picking robot.The relevant research in this paper has important practical significance in engineering.