茶叶嫩梢采摘末端执行器的设计研究

许丽佳; 刘琦; 代建武; 陈小虎

doi:10.13305/j.cnki.jts.2021.05.006

茶叶科学 >

2021 , Vol. 41 >Issue 5: 705 - 716

DOI: https://doi.org/10.13305/j.cnki.jts.2021.05.006

研究报告

茶叶嫩梢采摘末端执行器的设计研究

许丽佳 ,
刘琦 ,
代建武 ,
陈小虎

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1.四川农业大学机电学院,四川雅安 625014;
2.华中科技大学电子信息与通信学院,湖北武汉 430074

许丽佳,女,教授,主要从事农业机器人、农业信息检测与控制技术的研究,583458957@qq.com

收稿日期: 2020-11-27

修回日期: 2021-02-15

网络出版日期: 2021-10-12

基金资助

国家级创新训练计划项目（201910626024）

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Design of End Effector for Picking Tea Shoots

XU Lijia ,
LIU Qi ,
DAI Jianwu ,
CHEN Xiaohu

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1. College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya'an 625014, China;
2. Huazhong University of Science and Technology, Wuhan 430074, China

Received date: 2020-11-27

Revised date: 2021-02-15

Online published: 2021-10-12

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摘要

为了解决茶叶嫩梢的选择性采摘问题,以茶叶嫩梢的物理学特性为设计依据,设计了一种可夹提式采摘茶叶嫩梢的末端执行器,运用MATLAB软件的GUI模块及SolidWorks软件对采摘末端执行器的结构参数进行优选分析,并获得最佳组合参数,通过运动学仿真分析可行且满足夹持力要求;采摘末端执行器模型在茶园进行采摘试验,结果表明,一芽一叶的漏采率为2.8%、采摘完整率为91%;一芽两叶的漏采率<3%、采摘完整率为94%,试验结果验证该采摘末端的结构设计及其参数切实可行,为茶叶嫩梢的选择性采摘提供理论依据,并为后续茶叶嫩梢采摘机的研发提供技术支撑。

关键词： 茶叶嫩梢; 采摘机械手; 末端执行器; 运动学仿真

本文引用格式

许丽佳 , 刘琦 , 代建武 , 陈小虎 . 茶叶嫩梢采摘末端执行器的设计研究[J]. 茶叶科学, 2021 , 41(5) : 705 -716 . DOI: 10.13305/j.cnki.jts.2021.05.006

Abstract

In order to solve the selective picking of tea shoots, based on the physical characteristics of tea shoots, an end effector of picking tea shoots with clip was designed in this study. The GUI module of MATLAB software and SolidWorks software were used to optimize the structural parameters of the picking end effector,and the optimal combination structural parameters were obtained. The kinematics simulation analysis was feasible and met the requirements of clamping force. The model of picking end effector was tested in tea garden, and the results show that the missed picking rate of one bud and one leaf was 2.8%, and the picking integrity rate was 91%. While the missed picking rate of one bud and two leaves was <3%, and the picking integrity rate was about 94% in March. The experimental results verified that the structural design and parameters of the picking end effector are feasible, which provided a theoretical basis for the selective picking of tea shoots, and a technical support for the subsequent research and development of tea shoot picking machine.

Key words： tea shoot picking; picking manipulator; picking end effector; kinematics simulation

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