Picking Arm Structure Design And Work Space Optimization Of The Oil-tea Camellia Picking Machine

With China's camellia base area continues to expand, camellia of picking fruit has become a slow and arduous work, in the automation machinery equipment to replace artificial assignments to complete the camellia picking is the future of woods and a certain trend. Based on the biological characteristics and cultivated fruit trees camellia manner, design the four degrees of freedom actuators, and the structure design and working space analysis.the Camellia biological characteristics, as well as the Camellia fruit picking mechanism selection principle, determined to walk the way of the picking machine crawler chassis; drive mode using the machine-hydraulic hybrid drive, which the chassis using the traditional mechanical drive, the executing agency with hydraulic drive; design the executive body of the four degrees of freedom, and the main boom, jib, columns and the end of the picking head structure design.Camellia fruit picking machine picking arm coordinate system using the D-H method, coordinate system through homogeneous transform for solving positive kinematics and inverse kinematics model of the picking arm Jacques than the matrix for the picking arm workspace the analysis lays a theoretical foundation.Through the Pro/E software to create three-dimensional model of the executing agency of the picking machine, the end of the implementing agencies to pick the direction of head position displacement, in addition to joint range of main boom and job.In this thesis, using the boundary method to solve the working space of the picking machine, space, optimization of the operating space of the executive body of the picking machine according to the growth and distribution of Camellia fruit. Work space to meet the operational requirements on the basis of executive body movement space and picking arm arm length and the minimum as the objective function to obtain the optimal solution of the structural parameters of the executing agency. Monte Carlo probability space simulation analysis of the executive body of the Camellia fruit picking.