Mechanism Design And Motion Simulation Of Apple Picking Robot

As one of the most important economic fruit trees in my country,apple tree occupies an important position in agricultural production,and its output,planting area and export volume rank first in the world.As the planting scale expands and the output continues to rise,the use of agricultural robot technology can realize the integrated,efficient and non-destructive picking of apples.To this end,an apple picking robot with picking,sorting and collecting capabilities is designed,and its kinematics and dynamics simulation analysis is carried out.The development of this robot can effectively reduce labor costs,improve picking efficiency,and reduce economic losses.The main research contents of this paper are as follows:(1)Firstly,the biological characteristics and growth environment of apples were analyzed,the design requirements of the apple picking robot were clarified,the overall parameters of the robot were formulated,and the picking method was determined to be non-contact negative pressure suction.Design and 3D modeling of picking robot manipulator,end effector,sorting mechanism and transportation mechanism.(2)By analyzing the force and mechanical properties of apples during picking,it is determined that the main breaking point of apples is located at the fruit stand.Use Solid Works to build a three-dimensional model of the negative pressure suction end effector,and at the same time ensure the sealing performance of the end collection port during the operation of the fan.Analyze the motion trajectory of the apple inside the cavity,and calculate the impact force of the apple on the rear of the end cavity.Fluent software was used to simulate the influence of the shape of the end suction port on the picking suction,so as to further improve the utilization rate of wind energy.(3)Using the standard D-H parameter coordinate method,the kinematics of the modeled five-degree-of-freedom picking manipulator is analyzed,and the forward and inverse solutions and Jacobian matrix of the manipulator are solved.The robot arm model is established by Robotics Toolbox in MATLAB software,and the accuracy of the forward and inverse solutions of the robot arm is verified.Then,the five-order polynomial trajectory planning and kinematics simulation of the modeled manipulator are carried out to analyze the angle,angular velocity and angular acceleration of each joint in the driving space,to verify whether the joint motion is stable,and to obtain the three-dimensional trajectory curve of the end.The Monte Carlo method is used to analyze the workspace cloud map of the robotic arm and each joint to ensure that the parameter design meets the picking requirements and covers the actual fruit tree range.(4)The dynamic model of apple picking manipulator is established by Lagrange equation,and the theoretical driving torque expression of each joint is deduced.According to the planned motion path of the manipulator,ADAMS is used to analyze the speed,acceleration of the end point and the change of the motion speed of each joint during the motion.And further analyze the driving torque of each joint during the movement of the robotic arm,and the impact of the impact force of the apple on the joint force and required torque.It lays the foundation for the research on the control system of apple picking robot.