Structural Design And Research Of Gannan Navel Orange Quadruped Picking Robot

This thesis analyzes the environment of navel orange garden in south of Jiangxi Province and summarizes the manual picking process of navel orange in south of Jiangxi Province.Aiming at the automatic picking of navel orange,a four-legged mobile picking robot for navel orange picking was proposed.The main research contents of this thesis are as follows:(1)By analyzing the research status of picking robots at home and abroad,and comparing with the existing picking robots,a four-legged mobile picking robot with better obstacle crossing performance and more suitable for the work in hilly areas was independently designed.Through the morphological matrix of picking robot,reasonable combination of each functional module is carried out to complete the overall structure design and layout of the four-legged mobile picking robot.(2)The leg structure of four-legged movement platform is a closed chain leg structure with simple mechanism,easy maintenance and low cost.Based on the summary of navel orange picking process and the analysis of the biological characteristics of navel orange,a new compact end-effector for navel orange picking in south jiangxi province was designed.The end effector organically combines the clamping function of navel orange and the shearing function of cutting off the fruit stalk to make the whole structure of the end effector compact and simple.The overall structure of the end-effector is statically analyzed to determine its structure size.(3)Through the D-H method and geometric analysis method,Kinematic modeling was carried out for the legs of the four-legged movement platform,and forward and reverse kinematic analysis and solution were carried out for the four-legged movement platform.Based on the static stability analysis of the closed chain four-legged movement platform designed in the thesis,a triangular static gait with a duty cycle of 5/6 is designed and planned as the marching gait of the picking robot based on the requirement of the four-legged mobile picking robot for speed and stability.(4)Finished kinematic simulation of four-legged movement platform on the ground through ADAMS software.The stability of the four-legged platform during movement is verified.The static finite element analysis was carried out on the main stressed parts of the end-effector by ANSYS Workbench,and the results showed that the structure of the end-effector could meet the requirements of navel orange picking.The research content of this thesis provides important reference significance for the follow-up research on the application of quadruped movement platform in agricultural picking and has broad application prospect.