Design and experimental study of the end-effector for broccoli harvesting  

作　　者：Xiong Zhao Gangji Xu Pengfei Zhang Gaohong Yu Yadan Xu 

机构地区：[1]Faculty of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China [2]Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province,Hangzhou 310018,China [3]Hangzhou vocational&Technical College,Hangzhou 310018,China

出　　处：《International Journal of Agricultural and Biological Engineering》2024年第1期137-144,共8页国际农业与生物工程学报（英文）

基　　金：the Key Research Projects of Zhejiang Province(Grant No.2022C02042,2022C02002);the National Natural Science Foundation of China(Grant No.32071909);the Shanghai Science and Technology Agricultural Development Project 2021(No.4-1);the General Project of Agriculture and Social Development in Hangzhou(Grant No.202203B08,20201203B92)。

摘　　要：The end-effector is an important part of the broccoli harvesting robot.Aiming at the physical characteristics of a large broccoli head and thick stem,a spherical cutting tool broccoli harvesting end-effector was designed in this study.First,the physical characteristics of broccoli were tested,and physical parameters such as the broccoli head diameter and stem diameter of broccoli were measured.The maximum cutting force of broccoli stems under different cutting angles was tested.Second,according to the physical characteristics and harvesting process of broccoli,the end-effector was designed,and the mathematical model of kinematics and dynamics was established.Based on the results of dynamic analysis,the end-effector rod was optimized,and the unilateral width of the slider was 40 mm,the length of the connecting rod was 120 mm,and the length of the crank was 42 mm.The mechanism needed an external driving force of 140.54 N to cut the broccoli stem.Therefore,a 32 mm cylinder with a load rate of 50%was selected as the power source.Finally,the feasibility of the broccoli harvesting end-effector was verified by the harvesting test.Experiments showed that the overall harvesting success rate of the end-effector is 93.3%,and the smoothness rate of the stem section is 83.3%.The harvesting performance of the broccoli end-effector was verified.This lays a foundation for agricultural robots to harvest broccoli.

关 键 词：harvesting robot BROCCOLI END-EFFECTOR dynamic analysis mechanism optimization 

分 类 号：S22[农业科学—农业机械化工程]