Authors

Abstract

A kiwifruit harvesting end effector was designed and developed to improve the efficiency of mechanized kiwifruit harvesting. Firstly, the automated kiwifruit picking process was determined according to the kiwifruit orchard working environment. Secondly, the end-effector was designed and analyzed based on the principle of kiwifruit picking. Finally, an orchard experiment was conducted with the clamping force, rotation angle and rotation speed of the end-effector as test factors, and the separation success rate, separation time and damage rate of kiwifruit fruit as test indicators. A regression model between the test factors and test indicators was established using a quadratic fitting equation to analyze the influence between the test factors and indicators. The experimental results showed that the optimal parameter was a clamping force of 3.05 N, a separation angle of 65.75°, and a separation speed of 60.03°/s. The results of the study provide theoretical basis and technical support for automated kiwifruit harvesting.

Abstract in Chinese

为提高猕猴桃机械化收获效率，设计并开发了一款用于猕猴桃采摘的末端执行器。首先，根据猕猴桃果园作业环境，确定出猕猴桃机械化采收作业原理。其次，根据猕猴桃采摘机理，对末端执行器的结构进行设计和分析。最后，进行果园试验，以末端执行器的夹持力，旋转角度和旋转速度为试验因素，以猕猴桃果实的分离成功率，分离时间和损伤率为试验指标，采用二次拟合方程建立试验因素和试验指标之间的回归模型，分析试验因素和指标间的影响。试验结果表明最优参数中夹持力为3.05N，分离角度为65.75°，分离速度为60.03°/s。研究结果为实现猕猴桃自动化高效采摘提供理论依据和技术支持。