基于SolidWorks的鲜枣采摘末端执行器设计与运动仿真  

Design and Motion Simulation of the End Effector for Fresh Jujube Picking Based on SolidWorks

作　　者：赵华民 刘凯鑫 王鑫[1] 焦海峰 许德芳 Zhao Huamin;Liu Kaixin;Wang Xin;Jiao Haifeng;Xu Defang(College of Agricultural Engineering,Shanxi Agricultural University,Shanxi Jinzhong 030801;Department of Mining Engineering,Lyuliang University,Shanxi Lyuliang 033001)

机构地区：[1]山西农业大学农业工程学院,山西晋中030801 [2]吕梁学院矿业工程系,山西吕梁033001

出　　处：《南方农机》2024年第6期7-9,14,共4页

基　　金：山西省自然基金青年项目(202103021223145);山西农业大学大学生创新创业训练项目(20-034);吕梁市引进高科技人才重点研发项目(2021RC-2-24)。

摘　　要：[目的]满足鲜枣采摘机器人采摘需求,提升采摘成功率,降低采摘过程中对相邻果实的影响。[方法]基于SolidWorks设计了一种鲜枣采摘专用末端执行器。首先根据鲜枣特性对末端执行器进行结构设计,计算各零件尺寸和参数;其次采用SolidWorks软件绘制各零件3D模型,并在软件中进行装配;最后对该末端执行器进行了运动仿真分析。[结果]该末端执行器各零件配合良好、无干涉现象,材料满足强度要求,能够实现正常抓取,运行平稳、可靠,结构能够满足鲜枣采摘的基本要求。[结论]本研究可为鲜枣采摘机器人的后续研究提供理论支持与借鉴。[Objective]To meet the harvesting needs of fresh jujube picking robots,improve the success rate of picking and reduce the impact on adjacent fruits during the picking process.[Method]Designed a specialized end effector for fresh jujube picking based on SolidWorks.Firstly,design the structure of the end effector based on the characteristics of fresh jujube,and calculate the dimensions and parameters of each component.Secondly,SolidWorks software is used to draw 3D models of each component and assemble them in the software.Finally,motion simulation analysis was conducted on the end effector.[Result]The various components of the end effector are well coordinated and have no interference.The material meets the strength requirements and can achieve normal grasping.The operation is stable and reliable,and the structure can meet the basic requirements of fresh jujube picking.[Conclusion]This study can provide theoretical support and reference for the subsequent research of fresh jujube picking robots.

关 键 词：鲜枣采摘 末端执行器 SolidWorks建模 结构设计 运动仿真 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]