Design And Research Of Automatictea Picking Machine Basedon Parallel Robot

Tea picking is a vital part of the tea processing process,which determines the visual experience of making tea.In order to solve the problems of leaf bud damage,leakage and mis-production in the mechanized picking of tea,there is an urgent need for an automatic equipment with selective picking.To achieve the selectivity of tea picking,the flexibility of the organization is crucial.In the equipment research process,not only must the picking efficiency be ensured,but also the stability of the picking operation of the mechanism should be improved and the vibration of the mechanism should be reduced.In this regard,this paper has carried out the following aspects according to the related theoretical research of parallel robot and its trajectory planning:1)This paper takes the tea garden appearance,tea picking process and other issues as the starting point to visit the tea garden,and collects the literature data,and proposes a more feasible automatic tea picker design.The parallel automatic tea picker studied in this paper aims to improve the quality and efficiency of picking,identify the suitable leaf buds by visual camera and determine the picking point,and combine the advantages of the parallel mechanism to realize the picking of suitable leaf buds by the end finger picker.Collect work.The equipment relies on the crawler chassis trolley,which can adapt to most tea garden terrain,with stable and reliable structure and flexible movement.2)The mechanism analysis of the Delta parallel robot,the core moving component of tea picking.The kinematics model is established,and the forward and inverse solution model of the kinematic position of the Delta parallel robot is deduced,which provides theoretical support for its trajectory planning.The singularity analysis and workspace analysis of the organization were carried out.The results show that the working range of the equipment can basically cover the area where the suitable leaf buds are located,which reduces the leakage rate of leaf buds.3)Determine the law of the speed of the end picker.Through the analysis of the tea picking operation process and the production requirements of famous tea,the movement laws of the picking operation track of famous tea were summarized,and amore stable and continuous high-speed cam movement speed rule was determined through comparative analysis of various speed laws..The trajectory planning method of the robot is studied.The Lamé curve and the Bézier curve are used to calculate the trajectory smooth transition method of the corner section of the tea picking path respectively.The end point of the corner segment driven by the two trajectory planning methods is obtained.Type picker movement law.The validity of the kinematic position positive and negative solution model and the two trajectory smooth transition methods are verified.Through virtual prototype simulation and data simulation experiments,the method of comparative analysis is used to verify,and the smooth transition performance of the two trajectory planning methods is evaluated in a targeted manner according to the comparison results.4)Verification of the validity of the kinematic position positive and negative solution model and the two trajectory smooth transition methods.Through virtual prototype simulation and data simulation experiments,the method of comparative analysis is used to verify,and the smooth transition performance of the two trajectory planning methods is evaluated in a targeted manner according to the comparison results.On this basis,the guiding suggestions of the trajectory planning curve parameter optimization method based on energy consumption index are put forward,which provides a reasonable reference for the Delta parallel robot motion control algorithm of the parallel automatic tea picker control system.At the same time,a Delta robot trajectory tracking experiment system is designed to verify the effectiveness of trajectory planning simulation results.