| Tea industry is an important economic component in China.In the tea trade,the famous teas have the most commercial value.Nowadays,normal tea plucking has been mechanized,but the machine can not be used in the famous tea plucking because of its non-selectivity.Therefore,famous tea plucking is still depending on manual picking.Pull-type plucking is an essential technique in manual picking and it can ensure the quality of fresh tea buds.Judging by those existing literature of the famous tea plucking machine,there is no in-depth study about the actuator.A suitable actuator should achieve pull-type plucking rather than simply cut the tea bud off.In addition,the famous tea picking machine will face a large number of picking points in every task.So it is important for the picking points' path optimization.In conclusion,a multifaceted study on Mingshan 131 tea buds was done in the beginning of this paper,including:(1)A measurement and statistics about the tea buds' petioles;(2)The petioles' tensile test and compression capacity experiment;(3)A measurement of static friction coefficients between the petioles and different materials.After those steps' execution,this paper summarized a formula of the relationship between the petioles' compression capacity and the contact area,which can be used to design a tea bud pull-type plucking device.Next,the pull-type plucking device was designed according to the previous study and optimized by using MATLAB and ADAMS.After that,a virtual prototype of the cartesian coordinates robot was designed by using the Pro/E,and the robot's Y axis arm's proper installation position was figured out through the Pro/E and ADAMS/AutoFlex.Finally,this paper focused on the prototype's control system,worked out a control scheme and a circuit design diagram.After an analysis in MATLAB,a concise picking points' path optimization strategy was also carried out in the end of the paper,combining with the engineering practical. |
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