菠萝采摘机械手的设计与试验.pdf

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1、42第28卷增刊22012年10月农业工程学报TransactionsoftheChineseSocietyofA伊iculturalEngine砸ngv01．28Supp．2Oct．2012DesignandtestofpineappleharVestingmanipulatorV怕ngHaif色n91，LiBin2，LiuGuangyul※，XuLimin93(1．C话i"卵e彳c口沈，缈Q厂^如沈埘49心“拈“m，尬c力d，l担口，fo聍＆砌c口，口P咖髫100083，C‰q口；2．NntionnlEngineeringResecⅡ℃hCenter可Intellig

2、entEquipment加rAgriculture，8eij拥g1QQ0鹋，Chindj3．CD比妒矽E馏f玎ger垤Q厂劬j"口一∥c“胁mf撕眦坶f纱，眈i，坛100083，劬砌由Abstract：Pine印pleharvestisaprettyheavyjoba11ditisin铲eatneedtoautomatemeharvestingprocess．Thisp印erpresentedakindofmanipulatordesignedforpineappleha九，estandthetestwasconductedt0validateitsfeaSibili谚．

3、Basedonthe酉owthcharacteristicsofthef如it，twostepsweredetenninedfortheharvestoperation，catchingthe觚itaJldholdingitsteadilyinhorizontaldirectionfirst，肌dthenharvestingitbyrotatinginvemcaldirection．Themanipulatorwasdesi印edbyusingprofessionalmechallicaldesignsof撕arePro／E，whichconsistsofthreep砌s

4、，thegrabbingmechallism，thehanddrivingmechanismandtherotatingmechanism．AcontrolsystembasedonAr89C51microcontrollerwaSdesignedt0con仃01帆ost印pingmotors，whichcanfinishthewholeharvestprocess．nleeXperimentalresultsshowedthat，tlledesignedmanipulatorcanrealizemehan，estoperationwithtlleconn01system

5、．Themaxrotationangleis180。andmeharvestdurationis21．24s．T11eresearchcaIlprovideareferenceforthedevelopmentofpineappleharvestingrobots．Keywords：design，experiments，robots，manipulator，pineappleharvesting，AT89C51microcontrollerdoi：10．3969／j．issn．1002—6819．2012．z2．008CLCnumber：TP241．3，S225．93Do

6、cumentcode：AAr“ckID：1002—6819(2012)一Supp．2—0042—05WangHaifeng，LjBin，LiuGuangyu，eta1．Designa11dtestofpineappleharvestingmaniPulator【J]．1YansactionsofmechineseSocietyofAgriculturalEngineering(1’ransactionsofmeCSAE)，2012，28(Supp．2)：42—46．(inEnglishwimChiIleseabstract)王海峰．李斌．刘广玉，等．菠萝采摘机械手的设计与

7、试验[J]．农业工程学报，2012，28(增刊2)：42—46．OIntroductionPineappleisanimportantnDpicalfImitintheworId．ThefImitgrowsonthetopofthetreeanditiseasytohalNestbecausetheiunctionareaisverybrittleThepineappIetreesusuaUygrowintensiVelyandwhenthehaⅣestingseasoncomes，thefarmershavetochalle