DOI：10.3969/j.issn.1672-3872.2023.20.016
作者：王大龙，孙世文，王腾宇（山东青年政治学院，山东 济南 250103）
摘 要：【目的】现有的平铺于地垄表面的草莓采摘机械装置往往不能用于日光温室垄作草莓果实的采摘，故针对垄沟栽培环境，设计一款合理的行走机构对于草莓采摘机器人实现平稳移动和跨垄作业意义重大。【方法】研究小组提出了一种能够跨垄移动的行走机构，针对垄沟距离较长的采摘现场，可自动跨至下一垄沟进行采摘。利用运动学分析软件ADAMS对行走机构的一组支撑装置进行运动性能仿真实验，共得到了5组分析曲线。【结果】1）支撑底座Ⅰ和支撑底座Ⅱ在所设阶跃函数的驱动下，曲线变化比较平稳；2）线加速度和角加速度曲线在运行时，由于支撑底座受重力、负载等因素影响会产生突变，但在中间过程阶段受力稳定后，加速度变化也会趋于稳定。【结论】支撑底座在给定的轨迹中运行稳定，没有明显冲击，可以满足实际工作的任务要求，配合采摘机械手能够实现跨垄连续作业，从而高效率低成本地完成垄作草莓的自动化连续采摘。
关键词：采摘机器人；行走机构；跨垄移动
Design and Simulation of Travelling Mechanism of Strawberry Picking Robot in Ridge Cultivation
Wang Dalong, Sun Shiwen, Wang Tengyu (Shandong Youth University of Political Science, Shandong Jinan 250103)
Abstract: [Objective] The existing strawberry picking mechanical devices that are laid flat on the surface of the ridge are often not suitable for picking strawberry fruits in greenhouse ridge cultivation. Therefore, designing a reasonable walking mechanism for the ridge cultivation environment is of great significance for the strawberry picking robot to achieve smooth movement and cross ridge operation. [Method] The research team proposed a walking mechanism that can move across ridges, which can automatically cross to the next ridge for picking at picking sites with longer distance between ridges. By using the kinematics analysis software ADAMS, a group of supporting devices of the walking mechanism are simulated for their kinematic performance, and a total of five groups of analysis curves are obtained. [Result] 1) Driven by the set step function, the curve of support base I and support base II changes smoothly. 2) When the linear acceleration and angular acceleration curves are running, sudden changes will occur due to the influence of gravity, load and other factors on the support base. However, after the force is stable in the intermediate process, the acceleration changes will also tend to be stable. [Conclusion] The support base operates stably in the given trajectory without significant impact, and can meet the task requirements of practical work. Combined with the picking manipulator, it can achieve continuous cross ridge operation, thereby efficiently and cost-effectively completing the automated continuous picking of strawberry in ridge cultivation.
Keywords: picking robot; travelling mechanism; cross ridge movement
引文信息：[1]王大龙，孙世文，王腾宇.垄作草莓采摘机器人行走机构设计与仿真[J].南方农机，2023，54(20)：61-64.
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