DOI：10.3969/j.issn.1672-3872.2024.06.002
基金项目：山西省自然基金青年项目（202103021223145）；山西农业大学大学生创新创业训练项目（20-034）；吕梁市引进高科技人才重点研发项目（2021RC-2-24）
作 者：赵华民1 ，刘凯鑫1 ，王 鑫1 ，焦海峰1 ，许德芳2
（1. 山西农业大学农业工程学院，山西 晋中 030801；2. 吕梁学院矿业工程系，山西 吕梁 033001）
摘 要：【目的】满足鲜枣采摘机器人采摘需求，提升采摘成功率，降低采摘过程中对相邻果实的影响。【方法】基于SolidWorks设计了一种鲜枣采摘专用末端执行器。首先根据鲜枣特性对末端执行器进行结构设计，计算各零件尺寸和参数；其次采用SolidWorks软件绘制各零件3D模型，并在软件中进行装配；最后对该末端执行器进行了运动仿真分析。【结果】该末端执行器各零件配合良好、无干涉现象，材料满足强度要求，能够实现正常抓取，运行平稳、可靠，结构能够满足鲜枣采摘的基本要求。【结论】本研究可为鲜枣采摘机器人的后续研究提供理论支持与借鉴。
关键词：鲜枣采摘；末端执行器；SolidWorks建模；结构设计；运动仿真
Design and Motion Simulation of the End Effector for Fresh Jujube Picking Based on SolidWorks
Zhao Huamin1 , Liu Kaixin1 , Wang Xin1 , Jiao Haifeng1 , Xu Defang2
(1.College of Agricultural Engineering, Shanxi Agricultural University, Shanxi Jinzhong 030801; 2.Department of Mining Engineering, Lyuliang University, Shanxi Lyuliang 033001)
Abstract: [Objective] To meet the harvesting needs of fresh jujube picking robots, improve the success rate of picking and reduce the impact on adjacent fruits during the picking process. [Method] Designed a specialized end effector for fresh jujube picking based on SolidWorks. Firstly, design the structure of the end effector based on the characteristics of fresh jujube, and calculate the dimensions and parameters of each component. Secondly, SolidWorks software is used to draw 3D models of each component and assemble them in the software. Finally, motion simulation analysis was conducted on the end effector. [Result] The various components of the end effector are well coordinated and have no interference. The material meets the strength requirements and can achieve normal grasping. The operation is stable and reliable, and the structure can meet the basic requirements of fresh jujube picking. [Conclusion] This study can provide theoretical support and reference for the subsequent research of fresh jujube picking robots.
Keywords: fresh jujube picking; end effector; SolidWorks modeling; structural design; motion simulation
引文信息：[1]赵华民，刘凯鑫，王鑫，等.基于SolidWorks的鲜枣采摘末端执行器设计与运动仿真[J].南方农机，2024，55(6)：7-9+14.
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