菠萝采摘机械手的设计与试验

摘要：为实现菠萝自动化收获，以减轻劳动负担、降低收获成本、提高收获效率，该文根据菠萝的生长特性，确定采用2个步骤将菠萝摘取的方案：首先，手爪从水平方向将菠萝抓稳，然后通过旋转将菠萝掰断。按照本方案，设计的菠萝自动采摘手爪包括手部抓取机构，手部驱动机构和手部旋转机构3部分，分别实现对菠萝的抓取和掰断功能，并设计了以AT89C51单片机为核心的控制系统，控制2个步进电机。通过采摘试验，表明该机构和控制系统能够实现对菠萝的采摘，确定手部旋转机构的旋转角度为180°，抓取时间为21～24 s。该研究可为田间菠萝采摘机器人关键部件研发提供参考。

Design and test of pineapple harvesting manipulator

Pineapple harvest is a pretty heavy job and it is in great need to automate the harvesting process. This paper presented a kind of manipulator designed for pineapple harvest and the test was conducted to validate its feasibility. Based on the growth characteristics of the fruit, two steps were determined for the harvest operation, catching the fruit and holding it steadily in horizontal direction first, and then harvesting it by rotating in vertical direction. The manipulator was designed by using professional mechanical design software Pro/E, which consists of three parts, the grabbing mechanism, the hand driving mechanism and the rotating mechanism. A control system based on AT89C51 microcontroller was designed to control two stepping motors, which can finish the whole harvest process. The experimental results showed that, the designed manipulator can realize the harvest operation with the control system. The max rotation angle is 180°and the harvest duration is 21-24 s. The research can provide a reference for the development of pineapple harvesting robots.