Design And Research Of Apple Picking Robot

Apple is one of the most common fruits in life.However,due to the aging of our country,there is a shortage of labor for employees in the apple industry,so the use of agricultural robots has become an irresistible trend.The application of apple picking robot can solve the problems of labor shortage and unreasonable industrial development structure,and further promote the transformation and upgrading of apple production industry.In this paper,the apple picking robot is designed for dwarf and close-planted orchards and apples,which has the functions of picking,sorting and transporting.The development of this robot can effectively reduce labor costs and improve picking efficiency.In this paper,the end effector,mechanical arm and other structures of apple picking robot are studied by combining theory with simulation.This paper mainly studies from the following aspects:Firstly,the environment and biological characteristics of dwarf and dense apple orchard are analyzed,and the overall design scheme of apple picking robot is put forward to determine its overall size.It is determined that the picking robot adopts negative pressure picking mode.On this basis,the structure of other important units is designed,and the whole apple picking robot structure is modeled by Solid Works software.Secondly,the end effector based on negative pressure is designed by analyzing the stress of apples when they are picked,and the internal flow field of the end effector is simulated by Fluent flow field simulation software to help optimize the structure of the end effector.Finally,the stress of apples in different positions of the end effector and apples of different sizes in the same position are analyzed to verify the rationality of the end effector structure.Through simulation analysis,it can be seen that the end effector designed in this paper can meet the expected requirements,that is,the direction of negative pressure on the apple after passing through the exhaust pipe is reversed,so that the apple moves from the original acceleration to the deceleration.Avoid the damage of apples when they reach the back wall.Thirdly,the SD-H parameter method is used to model the six-degree-of-freedom manipulator in coordinate system,and the forward and inverse kinematics and velocity Jacobian matrix of the manipulator are solved,and then verified by MATLAB.The trajectory planning and kinematics simulation analysis of the manipulator are carried out by MATLAB software,and the reachable space of the picking manipulator is solved by Monte Carlo method,and its spatial range is approximately a sphere with a diameter of 5 m.Finally,according to the centroid position and mass of each component of the picking manipulator,the drive motors and reducers of each joint of the manipulator are selected.The static simulation and modal simulation of the big arm and the small arm of the manipulator are carried out by ANSYS,and their structures are optimized by topological optimization method.Through simulation,it is known that the structural stiffness and strength of the big arm and the small arm fully meet the requirements.The kinematics and dynamics of the picking manipulator are simulated by ADAMS software.The structure of the picking manipulator is reasonable by ADAMS kinematics simulation,and the correctness of the selection of motor and reducer is known by dynamics simulation analysis.