目的 针对芒果种植区地形复杂、果柄含腐蚀性漆液等问题,设计一款履带式芒果采摘包装车。方法 整机由履带行走底盘、三自由度电动缸调平平台、五自由度机械臂及末端执行器构成。采摘包装车的调平平台基于倾角传感器实时维持机械臂基座水平;末端执行器融合鳍条效应四指柔性抓取机构,集成压力传感实现无损抓取,并结合剪切式漆液吸附结构。机械臂通过D-H法建立运动学模型,结合动力学分析优化驱动参数,并进行结构轻量化优化。结果 五自由度机械臂实现了结构轻量化,质量减少了13.8%;并且最大变形量为1.978 mm,最大等效应力为35.638 MPa,均满足刚度和强度要求。五自由度机械臂在芒果采摘包装环节具有良好的适应性,对降低人工成本、提升作业效率具有积极作用。结论 采摘包装车具备柔性抓取、漆液高效处理及果实初步分类能力,为破解芒果机械化采摘包装难题提供有效的技术方案。
Abstract
The work aims to address the challenges posed by the complex terrain of mango cultivation areas and the presence of corrosive latex in fruit stems by designing a crawler-type automated mango harvesting and packaging vehicle. The system consisted of a crawler chassis, a three-degree-of-freedom electric cylinder leveling platform, a five-degree-of-freedom robotic arm, and an end effector. The leveling platform of the harvesting and packaging vehicle was equipped with an inclination sensor to maintain the base of the robotic arm in a horizontal position in real-time. The end effector integrated a flexible grasping mechanism featuring a fin effect, incorporated pressure sensor for non-destructive grabbing, and employed a shear-type latex adsorption structure. The kinematic model of the robotic arm was established with the Denavit-Hartenberg (D-H) method, and the dynamic analysis was performed to optimize the drive parameters. Additionally, structural lightweight optimization was conducted with ANSYS software. The five-degree-of-freedom robotic arm realized the lightweight structure and reduced the mass by 13.8%. The maximum deformation was 1.978 mm, and the maximum equivalent stress was 35.638 MPa, which met the requirements of stiffness and strength. The robotic arm had good adaptability in mango picking and packaging, and had a positive effect on reducing labor costs and improving work efficiency. The harvesting and packaging vehicle is demonstrating capabilities for flexible grasping, efficient latex handling, and preliminary fruit classification, thus providing an effective technological solution for addressing the challenges of automated mango harvesting and packaging.
关键词
芒果采摘包装车 /
履带式底盘 /
机械臂 /
结构优化 /
仿生设计
Key words
mango harvesting and packaging vehicle /
crawler chassis /
robotic arm /
structural optimization /
bionic design
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基金
海南省自然科学基金高层次人才项目（521RC496）
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