Design And Research Of Series-Parallel Hybrid Citrus Picking Mechanism

In the process of citrus production,seasonal labor characteristics are very obvious,and the cost of manual picking accounts for a large part of the expenses in the whole process of citrus production.The research and development of citrus picking institutions has great significance and broad market application prospects for the automation and intelligence of the picking process,the liberation of productivity,the improvement of production efficiency and the reduction of labor costs.In this paper,the citrus picking mechanism is designed and studied.1)First of all,through the analysis of the growth characteristics and morphological characteristics of citrus,the motion forms required for the mechanical picking process are summarized,and the type of the picking mechanism’s manipulator and the number of degrees of freedom of the parallel mechanism for attitude adjustment are established.2)Based on the theory of orientation feature set of parallel mechanism,the type synthesis of parallel mechanism is carried out,and the parallel mechanism for attitude adjustment is designed and optimized.The forward and inverse kinematics equations are analyzed,and the velocity and acceleration equations are obtained.The forward and inverse kinematics solutions of the six-joint picking manipulator are analyzed,and its Jacobian matrix is obtained.The multi-strategy improved Sparrow algorithm is used to plan the time optimal trajectory of the manipulator.3)The working space of each part of the picking mechanism is analyzed,and the effect of the length and rotation range of the manipulator on its space volume is studied.Taking the inverse kinematics equation of the parallel mechanism as the objective function and the ball joint rotation as the constraint condition,the reachable attitude space of the parallel mechanism is solved,and the dimensions of each component are designed.4)Use Solidworks to model and assemble the parts of each component,and get its 3D solid model.The model is imported into Adams for kinematics simulation,and its motion change curve is obtained.The analysis shows that this mechanism can achieve the function of picking citrus.