Mechanical Structure Design And Control System Research Of Tea-Picking Robot

With the gradual disappearance of population dividend and the increasing shortage of labor,tea picking costs are high and time is strictly required,these problems have be come a major obstacle to restrain the transformation and upgrading of tea industry;this phenomenon has a more serious impact on the high quality tea.Although the common tea picker improves the efficiency of tea picking,it lacks selectivity and damages the part of tea plant.It's difficult to meet the strict standard of high quality tea bud picking.Based on the above situation,through the research of large-scale tea picking equipment in the current agricultural field,combined with parallel robot technology,a new design scheme of high-quality tea picking robot with selective picking is proposed.Through the study of its mechanical structure and control system,the tea picked is closer to the standard of high-quality tea picking.This paper analyses the characteristics of tea garden and the design principles of tea harvesters at home and abroad.Finally,the overall design scheme of tea picking robot is put forward.The mechanical structure design of the parallel robot of the tea picker,the end collector of the robot,the caterpillar walking mechanism and the tea conveyor mechanism are emphasized.The three-dimensional model of the mechanism is simplified and the spatial geometric relationship of the mechanism is obtained.The forward and inverse kinematics solutions of parallel manipulators are deduced by analytic method;the search method is used to draw the boundary envelope surface of Delta mechanism workspace and solve the boundary value.On the basis of kinematics solution,ADAMS inverse kinematics simulation analysis of parallel mechanism of tea picker was carried out,the kinematics law is substituted into the inverse kinematics algorithm of MATLAB,the inverse kinematics solution is calculated to verify the correctness of ADAMS simulation results.Forward kinematics simulation of parallel mechanism is carried out.These provide a detailed theoretical basis for the design and manufacture of the prototype of parallel mechanism of tea picker equipment.According to the overall design scheme of the tea picker,the electric control system of the tea picker is designed,including the hardware structure design of control system,the circuit design of tea picker,the design of PLC program,design and manufacture of Delta controller based on Cortex-M3 embedded parallel robot.The tea vision recognition system is simulated by C# software,and the position data are sent to the parallel robot controller through this software system.Eventually through many experiments,35 coordinate points of the robot are marked and its accuracy is analyzed.