关键词: 草莓采摘, 机械手, 刚柔混联, 动力学分析, 柔顺控制

Abstract: Aiming at the problem that strawberry was difficult to realize mechanical picking because of high water content and delicate structure,a rigid flexible hybrid structure of manipulator was proposed for ridge culture.To build the pseudo rigid body model,the compliant component was taken as the multi-rigid body series system of under-actuated joint.The dynamic model of compliant component equivalent rigid body was constructed with influence coefficient method,and the simulation analysis and experimental research for dynamic characteristics of distributed compliant mechanism were carried out.The simulation result showed that the rigid flexible mixed connection mechanism with force feedback had good envelope,controllability,stability and speed characteristic,and was suitable for compliant picking of strawberry.The research on the separating device had important application value for design and optimization of strawberry and other fruits and vegetables.

Key words: strawberry picking, manipulator, rigid flexible hybrid structure, dynamics analysis, compliance control