Research On Modeling Design And Key Technology Of Six Legged Strawberry Picking Robot

Strawberries have a delicious taste,high nutritional value,and are rich in various beneficial nutrients for the human body.They are widely planted around the world and are deeply loved by consumers.In recent years,China has developed into one of the countries with the largest strawberry planting area.Due to the unique growth habits of strawberries,their planting and picking rely entirely on human labor,resulting in low labor efficiency and high planting costs.The research and exploration of automated strawberry-picking technology are of great significance for promoting the development of agricultural intelligence and automation.Based on analyzing the characteristics of strawberry growth and picking,this paper designs a six-legged strawberry-picking robot with a beautiful shape,low energy consumption,and compact structure by using robotics,humanized design theory,and other related industrial design theory knowledge.1.A strawberry-picking robot has been designed to address the issues of high labor intensity,long picking cycles,and insufficient picking labor during strawberry picking.Based on research on domestic and foreign hexapod harvesting robots,it is summarized that the existing tracked and wheeled harvesting robots have weak environmental adaptability.This article uses a hexapod robot as the motion platform of the strawberry-picking robot,which can improve its motion ability and environmental adaptability.2.In response to the issue of poor aesthetics of existing strawberry-picking hexapod robots,this article applies humanized design theory and analyzes and elaborates on the design elements of the shape,color,material,and other aspects of the picking robot from the perspectives of theoretical analysis and practical use needs.Three sketch designs for the shape of strawberry-picking hexapod robots are proposed,and the optimal design scheme is determined through analysis and comparison,And Solidworks was used to conduct 3D modeling,rendering,and display of the robot’s usage environment.3.In response to the problem of excessive energy consumption in hexapod robots,this article establishes a robot joint energy consumption model to calculate the robot’s energy consumption.Express the two sets of trajectory coefficients of the robot’s two joint trajectories using controlled variables Q1 and Q2 as two inputs to the energy consumption model;During trajectory optimization,the factor of centroid fluctuation was considered,and the height variable Hf of centroid fluctuation was used as the third input of the energy consumption model.The sparrow search algorithm was used to solve the three parameters in the trajectory optimization problem.4.To verify the accuracy of the selected sparrow search algorithm,this paper compares the optimization results of the sparrow search algorithm,pattern search algorithm,particle swarm optimization algorithm,and Firefly algorithm.The results show that the optimization results of the selected sparrow algorithm are better than the other three algorithms.Through this method,this paper obtains the optimal trajectory coefficient and centroid fluctuation height,and the energy consumption of the optimized trajectory is 19.46% lower than the reference trajectory.