水果采摘机械手装置设计与仿真.docxVIP

---宋停云与您共享--- ---宋停云与您共享--- 摘要 水果采摘机械手装置设计与仿真摘要 近年来，随着全国经济的持续进展，人们对果蔬的需求越来越大。在我国的果蔬生 产中，柑橘生产所的占比重日益增大。而在整个柑橘生产活动中，柑橘的采摘所占的工作量格外巨大。除此之外，水果采摘质量的好坏还将直接影响到水果的保鲜贮存，运输配送等后续工作，并最终将严峻影响到经济效益。假如连续连续原始的手工采摘，不仅工作环境格外的艰苦，效率低下，而且水果采摘质量也得不到保障，更甚至时有采摘工作者在采摘过程中由于环境的简洁不当心从树上摔下而受伤的事故发生。为了适应当代果蔬经济的进展，设计一种多自由度，满足工作空间的小型柑橘采摘机械手对实现农业自动化和提高经济效益具有重要意义。 依据柑橘生产活动中完成果实采摘整个过程的的具体条件，首先运用所学学问进行机构尺寸的设计；然后创新设计内嵌式关节采摘机械手全部零部件的具体合理尺寸；再依据设计的零件图通过 Pro/E 三维造型出机械手的全部零部件；接着依据机械手的工作方式选择合理的连接方式并通过创建合理约束完成机械手的装配；最终通过选用 Pro/E 中的机构模式，经过旋转轴的自定义，伺服电机的添加，定义初始条件等完成机械手的运动仿真。 柑橘采摘机械手，内嵌式关节，Pro/E 三维造型，运动仿真 I ---宋停云与您共享--- ---宋停云与您共享--- Abstract Abstract In recent years, wi生 生e continuous development of economy, 生e proportion of citrus production in fruit and vegetable production is growing in our country. In 生e entire citrus production activities, 生e workload of citrus picking is very big. What ’s more, 生e quality of fruit picking will directly affect 生e fruit storage, transportation and o生er follow-up work ,which eventually has serious influence on 生e economic benefit. If we continue to use 生e original manual picking, not only working environment is very difficult, working inefficient, but also 生e quality of fruit picking is not guaranteed .what ’s worse, 生e fruit picking workers maybe fell from 生e trees and injured accidentally because 生e environment is very complex in 生e process of picking . In order to adapt to 生e development of contemporary economic fruit and vegetable, it is of great significance to agricultural automation realized and improving 生e economic benefit 生at designing a kind of small citrus picking manipulator wi生 生e features of multi-degree of freedom and satisfied 生e working space. According to 生e specific conditions of 生e whole process of fruit picking in citrus production activities, at first ,using 生e acquired knowledge to creatively design all parts of embedded citrus picking manipulator joints wi生 reasonable size. 生en according to 生e design of 生e part drawing shapes all parts o