Design And Experiment Of Broccoli Harvesting Manipulator

Known as the "crown of vegetables",broccoli has been loved by people for its nutritional value and anti-cancer effect far beyond other vegetables.The planting area of broccoli in China has always been in the forefront of the world,although the planting scale of broccoli has been expanding,the mechanized harvesting technology of broccoli has still not made great breakthroughs.Through field investigation of broccoli harvesting in Taizhou,the traditional manual harvesting method has been unable to meet the growing broccoli industry due to its heavy operation.Therefore,aiming at the problem of broccoli mechanized harvesting,this paper designs a broccoli harvesting manipulator which can meet the requirements of broccoli harvesting,and provides theoretical and experimental basis for the realization of broccoli mechanized harvesting.The main contents of this paper are as follows:1)Through field investigation of broccoli planting environment,the key data such as row spacing,plant spacing and the overall size of the flower ball at maturity are measured and counted.The physical and mechanical properties of broccoli are analyzed,and the harvesting requirements and the problems needing attention in the harvesting process are summarized,which provides data support for the design of end-effector of broccoli harvesting manipulator.2)According to the harvesting requirements of broccoli,the design requirements and harvesting mode of the end-effector are clarified.The overall design scheme of the end-effector is proposed,and the structural design,kinematics and statics analysis of the clamping mechanism are carried out.The driving mode of the end-effector is determined,and the design of the clamping baffle,frame and driving mechanism is completed,which lays the foundation for the overall structure design of the broccoli harvesting manipulator.3)According to the standardized planting mode of broccoli and the overall scheme design of end-effector,the working criteria and structural form of the harvesting mechanical are reasonably determined.Based on the forward and inverse kinematics analysis of the harvesting manipulator,the rationality of the working space of the harvesting manipulator is analyzed and verified.The overall structure design of broccoli harvesting manipulator is completed.4)The 3D model of broccoli harvesting manipulator and harvesting test bench is established,and the dynamic simulation analysis of virtual prototype is carried out.At the same time,the finite element analysis of key parts is carried out to verify the rationality of the structural design of broccoli harvesting manipulator.5)The assembly of broccoli harvesting manipulator and the construction of harvesting test bench are completed.The performance test of the whole mechanism is carried out,including the performance test of harvesting manipulator and end-effector.With the help of the harvesting test bench,the manipulator simulates harvesting experiments of broccoli with different diameters at different operating speeds.The success rate of harvesting is 84%,and the average harvesting time is 24.71 s,which verifies the feasibility and practicability of the broccoli harvesting manipulator.