| 手持式名优茶嫩梢采摘机械手设计与试验优化 |
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| 引用本文： | 贾江鸣,叶玉泽,程培林,朱赢鹏,傅霞萍,陈建能.手持式名优茶嫩梢采摘机械手设计与试验优化[J].农业机械学报,2022,53(5):86-92. |
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| 作者姓名： | 贾江鸣 叶玉泽 程培林 朱赢鹏 傅霞萍 陈建能 |
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| 作者单位： | 浙江理工大学 |
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| 基金项目： | 国家自然科学基金项目（51975537）和浙江省基础公益研究计划项目（LGN18E050002） |
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| 摘 要： | 针对名优茶机械化采摘难的问题，根据茶叶采摘农艺要求和手工采摘动作的分析，设计了一种手持式名优茶嫩梢采摘机械手，模拟人手指夹住茶叶并通过提拉进行采摘。通过采摘机械手的运动分析，得到了影响采摘效率的因素磁钢距离、主动手指角速度和主动手指转角的参数变动范围。采用Box-Behnken响应面分析方法，研究影响因素对采摘成功率的交互影响，以采摘成功率为响应值建立二次回归模型，各因素对采摘成功率的影响显著性主次排序为：主动手指角速度、磁钢距离、主动手指转角；运用Design-Expert 11.0软件的优化模块，以采摘成功率为优化目标对各因素进行优化，得到优化参数为：磁钢距离40.04 mm、主动手指转角153.0°、主动手指角速度3.38 rad/s。以优化后的参数进行采摘试验，结果表明采摘成功率为74.3%,3次采摘平均速度为25.2个/min,试验值与预测值的相对误差小于5%,优化模型结果可靠。
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| 关 键 词： | 名优茶 采摘机械手 响应面 采摘成功率 |
| 收稿时间： | 2021/6/1 0:00:00 |
Design and Experimental Optimization of Hand-held Manipulator for Picking Famous Tea Shoot |
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| JIA Jiangming,YE Yuze,CHENG Peilin,ZHU Yingpeng,FU Xiaping,CHEN Jianneng.Design and Experimental Optimization of Hand-held Manipulator for Picking Famous Tea Shoot[J].Transactions of the Chinese Society of Agricultural Machinery,2022,53(5):86-92. |
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| Authors: | JIA Jiangming YE Yuze CHENG Peilin ZHU Yingpeng FU Xiaping CHEN Jianneng |
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| Institution: | Zhejiang Sci-Tech University |
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| Abstract: | In response to the difficulty of mechanical picking of famous tea, a hand-held famous tea shoot picking manipulator was designed based on the analysis of the agronomic requirements of tea picking and manual picking movements. The kinematic model of the picking manipulator was used to obtain the parameter range of magnet distance, active finger angular velocity and active finger turning angle, which were factors affecting the picking efficiency. The Box-Behnken response surface analysis method was used to investigate the interactive effect of the influencing factors on the picking success rate. A quadratic regression model was established with the picking success rate as the response value. The significance ranking of the influencing factors on the picking success rate was active finger angular velocity, magnet distance and active finger angle.The optimization module of Design-Expert 11.0 software was used to optimize the factors with the maximum picking success rate as the optimization objective, and the optimization results were obtained as follows: magnet distance was 40.04mm, active finger rotation angle was 153.0° and active finger angular velocity was 3.38rad/s. The picking experiment of famous tea was carried out with the optimized parameters, and the results showed that the picking success rate was 74.3%, the average speed of three picking was 25.2 pieces/min, the relative error between the test value and the predicted value was less than 5%, and the optimized model results were reliable. |
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| Keywords: | famous tea picking manipulator response surface picking success rate |
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