猕猴桃采摘机械手设计与仿真

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中图分类号：S225.93 文献标志码：A 文章编号：1008-0864（2026）01-0133-12

Designand Simulation ofKiwifruit HarvestingRobot

LIUWenjian1，XUWeiping1，HEHaifeng1，TANGYong² （1.School of Mechanical and Electrical Engineering，Guizhou Normal University，Guiyang 55oo25，China; 2.Guizhou Agricultural Machinery Technology Promotion Station，Guiyang 55ooo3，China）

Abstract：Inorderto solvetheproblem ofstrong seasonalityand high labor cost of kiwifruit picking，a kiwifruit picking manipulatorwasdesigned，whichwascomposedofamanipulatorandanendefector，andcouldrealizeflexiblecontact and pickingofiwifruitwithdiferentatitudesundertheshed.Firstly，combinedwiththecharacteristicsof kiwifruit orchard scene and fruit vascular bundle，theoperation modeof artificial picking manipulator was determined.The end effctor could realize the functionof gripping the fruitand bendingits vascular bundle，andthe manipulator could drive end efectorto moveunder the trells.Secondly，thestructure designof the manipulatorwas completed.Theend ffctor used the manual picking methodfor reference，and theouter surfaceof its gripper was covered with silica gel coating. Finally，basedon theDH（denavit hartenberg）parameter method，themotionmodel ofthemanipulator was established，andits forwardand inverse kinematics were analyzed.Theresults showed thatthe maximum stress of kiwifruit with silicone coated gripper was O.13 MPa，which was 26.14% lower than that without silicone coated gripper. Compared with the UR5 manipulator，the manipulator picking comparison workspace constructed in MATLAB based on Monte Carlo randomsampling method showed that the manipulator had higher picking height and wider range，and could pick kiwifruit witharadiusof 552 mmandaheightof1O2O～132O mmrelativetothefixedbase.Theresultsof quintic polynomial interpolation showed thatits motioncurve had smooth motioncharacteristics.The simulation picking inautomaticdynamicanalysis of mechanical systems（ADAMS）verified thecooperative operationabilityof the manipulator and the end effector，which could meet the needs of picking.

Keywords：kiwifruit；harvesting；robotic manipulator；simulation

在农业生产中，猕猴桃果实的采摘因其显著的季节性特征，常伴随着高昂的人力成本投入]。（剩余16712字）