茶叶嫩梢采摘末端执行器的设计研究

doi:10.13305/j.cnki.jts.2021.05.006

Abstract

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

CLC Number:

S571.1

XU Lijia, LIU Qi, DAI Jianwu, CHEN Xiaohu. Design of End Effector for Picking Tea Shoots[J]. Journal of Tea Science, 2021, 41(5): 705-716.

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Design of End Effector for Picking Tea Shoots

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