红花采收三角对切一拉拔式末端执行器的设计与试验

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中图分类号：S225 文献标识码：A 文章编号：2095-5553（2026）02-0129-09

Abstract：To adress thechallenges of high precision requirements and suboptimal harvesting performance asociated with safowerharvesting machinery，this paperdevelopedanovel triangularbisectingpullingend-efectorbasedonthedesign principlesof triangular bisecting and segmented harvesting.This device employstriangular bisectingcomponentsanda multiworkingsectioncamtoachievecenteringandcuttngoperationsforsafflower.Thispaperanalyzedthecuttingconditions of the blade edges atvarious saffowercenter positions within the triangularbisecting component，constructed a mechanical modelforthecuting forcebetweenthebladeandfilaments.Theoreticalanalysisofthecutingprocess informedthedesignof the upper and lower blade geometries.Thecam profilecurve was designedby using a quintic polynomial to meet the operationalrequirementsofthe triangular bisectingcomponents.Thegeometric shapeofthe bladeholderwasdesigned based on harvesting requirements，andthe feed speed was analyzed.Theoreticalanalysis determined the maximum harvestingradius tobe 22.4mm .Taking the filament picking rate asan evaluation metric and using ANSYS software，the simulation experiments for picking at diffrent safflower center positions were designed，yielding an average efficiency of 96% .Based onthe simulation test，the laboratory picking validationexperiments was carriedout.Theresults showed thatthefilament picking cleanliness rate was 95.09% ，with a relative error of 0.95% ，compared to the simulation results，indicating that the designed end-effector effectively meets the picking requirements for safflower under low-positioning accuracy.

Keywords：safflower harvesting；triangular cross-cut；pull type；grooved cam；end effect（

0 引言

红花在医药、工业、饲料等领域具有重要的应用价值[2]。（剩余14075字）