Authors

Abstract

To address the issues of high labor intensity, low efficiency, and excessive flesh loss in pineapple eye removal, a design scheme of pineapple eye removal end-effector based on mechanical arm was proposed according to the analysis results of pineapple eye morphological characteristics. Based on the experimental determination of the elastic modulus of the pineapple fruit eye area the design of the end-effector mechanism for pineapple eye removal, kinematic and dynamic simulation analysis, and finite element optimization design of the eye removal gripper were carried out. Finally, a pineapple eye removal device was built for experimental verification. The simulation results indicated that the optimal length of the driving link of the pineapple eye removal end-effector mechanism was 23 mm. The eye removal trajectory of the gripper tip was highly consistent with the morphological contours of pineapple eyes. The maximum contact forces between gears and at the gripper-pineapple interface reached 33.13 N and 78.64 N, respectively. working conditions, the maximum stress and deformation at the gripper tip were measured as 532.15 MPa and 0.17 mm, revealing a significant stress concentration phenomenon. After structural optimization, the maximum stress and deformation were reduced to 133.13 MPa and 0.12 mm, with reduction rates of approximately 75% and 29.4%, respectively. These improvements effectively enhanced the structural stress distribution and deformation behavior, meeting the material strength requirements. The experimental results showed that pineapple eye removal operations were efficiently completed by the end-effector mechanism, with an eye removal success rate of 98%. The research results provide theoretical and technical reference for the development of pineapple automatic processing equipment.

Abstract in Chinese

针对菠萝去眼劳动强度大、效率低、果肉损耗率偏高等问题，依据菠萝果眼形态特征分析结果，提出了一种基于机械臂的菠萝去眼末端执行机构设计方案。在试验测定菠萝果眼区域的弹性模量的基础上，开展菠萝去眼末端执行机构设计、运动学与动力学仿真分析及去眼手爪有限元优化设计，最后搭建菠萝去眼装置进行试验验证。仿真结果表明，菠萝去眼末端执行机构的原动件杆最优杆长为23 mm，手爪尖点的去眼轨迹与菠萝果眼形态高度吻合，齿轮间最大接触力达33.13 N，手爪与菠萝最大接触力为78.64 N，在此工况下，手爪尖点的最大应力与最大变形量分别为532.15 MPa和0.17 mm，存在显著的应力集中现象。经结构优化后，最大应力和最大变形分别为133.13 MPa和0.12 mm，降幅分别约为75%和29.4%，有效改善了结构应力分布与变形情况，满足材料强度要求。试验结果显示，该末端执行机构可高效完成菠萝去眼作业，去眼成功率达98%。研究成果可为菠萝自动化加工装备研发提供理论支撑与技术参考。