Structure Design And Motion Analysis Of A Hawthorn Picking Machine

At present,robots are no longer limited to the application of industrial fields since the beginning of their birth.Nowadays,with the rapid development of science and technology,various innovative robots have been widely used in many fields such as agriculture,forestry,space,underwater,mining,construction,hazardous operation,search and rescue,medical treatment,education and household.Since our country is a big agricultural country,the research on agricultural robots is becoming more and more important.Because picking is the main method of harvest in the harvest process of agricultural fruits,it is suitable for the picking machine of different fruits.At this stage,the picker is widely used in the field of modern agriculture for fruit and vegetable picking.In the fruit field,hawthorn is one of the main economic crops in the north of our country,and the main method of acquisition is manually extracted,since the trunk of the hawthorn tree is relatively smooth,the branches are very harsh,the branch is very messy and wide,so the manual picking can be both time and danger.In the view of this problem,this paper proposes a simple structure and convenient operation of hawthorn picking machine.The proposed hawthorn picking machine is designed,and the motion curve of the mechanism is obtained by using MATLAB software,and the dynamic simulation analysis is carried out by using ADAMS software.The final result shows that the design of the hawthorn picking machine is reasonable and feasible.In this paper,the development and application prospects of agricultural robot picking machines at home and abroad are covered.The fruit picking cost is high and the labor quantity is large.In order to complete the fruit picking task efficiently,the structure design of fruit picking robot is needed.At present,the fruit picking machine developed at home and abroad is generally applicable to the picking machine with six degrees of freedom,such as apples,pears and tangerines,which are large and single,and the haw picking mechanism is small and suitable for cluster extraction.Based on this,this paper designs a five-degree-of-freedom hawthorn picking mechanism,which consists of a base,large arm,small arm,wrist and finger blade,and the base rotation determines the plane of the target picking object that is perpendicular to the base plane.The large arm rotates to the upper or lower part of the target picking position;The forearm turns the picking manipulator near the target pick;The wrist rotation and rotation adjusts the attitude of the robot end picking mechanism so that it is in a suitable position to ensure that the picking task can be completed reasonably;The blade is mounted on the finger,and the fingers are clamped and relaxed to complete the task of picking the target.It uses the D-H parameter method to build that motion equation of the mechanism,fit the corresponding kinematic curve with MATLAB software,uses the 3d modeling software Pro/E to carry out the virtual design of the component of the picking robot,assembles it into a complete picker,and imports the assembly drawing into ADAMS of the simulation analysis software to carry out the kinematic simulation.By analyzing the simulation curve,a certain theoretical basis is put forward for the research of the hawthorn fruit picking machine.