PARAMETER ANALYSIS AND EXPERIMENT OF CITRUS STALK CUTTING FOR ROBOT PICKING

摘要

In order to provide the basis for the design and control of a citrus picking robot clamp and cutter, and find the optimal combination of cutting parameters, this study used a self-made citrus stem cutting test-bed to study the effects of the citrus stem diameter, blade cutting speed, blade cutting clearance, and tool sliding cutting angle on the peak cutting force of citrus stems through a single-factor experiment. Based on the single-factor test, the blade cutting speed, blade cutting clearance, and tool sliding angle are selected as the influencing factors, and a multi-factor test is carried out with the target of the peak cutting force, and the regression model is established. The results showed that the peak cutting force increased linearly with the diameter of the fruit stalk, decreased with the increase of the blade cutting speed and sliding cutting angle, and first decreased and then increased with the increase of the blade cutting clearance. Through the optimisation analysis of the regression model, it is found that the optimal cutting parameter combination is the blade cutting speed of 40 mm/min, blade cutting gap of 1 mm, tool sliding cutting angle of 20°, and the peak cutting force under this combination is 168.23 N. The deviation between the predicted value of the peak cutting force and the measured value is less than 2%, and the optimisation result of the cutting parameters is reliable. This study provides a theoretical basis for the optimal design and control of the clamping and cutting mechanism of the citrus picking robot.