杨梅果的机械损伤试验和生物力学特性

为探讨在机械采摘条件下杨梅果的损伤机理与规律,该文依据机械手采摘果实的压缩、夹持、坠落等机械损伤形式,设计了杨梅果的力学特性试验方案,分析了杨梅果实的表型和成熟度等生物特性,应用圆球与平面接触的弹性力学模型理论以及试验数据,推导杨梅果的生物力学参数。分析得出了杨梅果的压缩弹性系数C、最大接触应力q和几种机械损伤杨梅果的力学特性方程和关系曲线。研究结果可为杨梅采摘机械手末端执行器的设计与采摘控制提供参考。

Mechanical damage test and biomechanical characteristics of red bayberry fruit

In order to investigate the injury mechanism and laws on red bayberry picked by mechanical arms, based on usual mechanical damage forms such as compression, clamp and fall on under the condition of a robot manipulator picking fruits, mechanical damage experimental program was designed, biological traits of phenotype and ripening degree of red bayberry was analyzed. According to the model theory of elastic mechanics on contact between ball and plane and the test data, biomechanical characteristics on red bayberry fruits were deduced. The results analysis could obtain the elastic coefficient C, most contact stress q and characteristic equations and relation curves about several kinds of mechanical damage of red bayberry fruit. This will provide some references for the design and picking control about manipulator of robot for harvesting red bayberry robot.