作者：王大龙，孙世文，王腾宇（山东青年政治学院，山东 济南 250103）
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