Authors

Abstract

The contact parameters between calcium fruit and comb teeth are the key to the virtual picking test. In this paper, the physical test of free-falling impacting plate on the self-built test bench and the centre rotation composite simulation test of rigid body dynamics were carried out. The relationship between the contact parameters and dynamic characteristics was obtained, and the contact model was optimized. The contact stiffness k=0.868, force index e=1.91 and damping C=5.56E-4 were obtained when the height of the free falling body was 500 mm. The model was applied to lower free-fall simulation test, and the obtained results were in good agreement with the physical test results. The contact model can be used in the subsequent picking simulation.

Abstract in Chinese

钙果与梳齿之间的接触参数是进行虚拟采摘试验的关键，本文通过自建试验台进行了自由落体冲击刚性板的物理试验与刚体动力学的中心旋转复合仿真试验。获得了接触参数与动态特征之间的关系，并通过优化得到了接触模型，自由落体高度500 mm时获得的接触刚度k=0.868，力指数e=1.91，阻尼C=5.56E-4。并将模型应用到更低自由落体高度仿真试验中,得到的结果与物理试验结果一致性很高，该接触模型可以用于后续的采摘仿真。