摘 要
随着农业现代化的快速发展，传统人工操作已难以满足高效、精准的农业生产需求，多功能农业机器人末端执行器的设计成为提升农业自动化水平的关键环节。本研究旨在设计一种适用于多种农作物作业场景的多功能末端执行器，并通过仿真分析验证其性能。基于模块化设计理念，结合仿生学原理与机械结构优化方法，所设计的末端执行器集采摘、喷洒和监测功能于一体，能够适应复杂农田环境下的多样化任务需求。利用SolidWorks完成三维建模，并借助ANSYS进行静力学与动力学仿真分析，结果表明该执行器在负载能力、灵活性及稳定性方面均表现出优异性能。此外，创新性地引入可调节夹持机构与多传感器融合技术，显著提升了执行器的适应性和智能化水平。研究结论为多功能农业机器人末端执行器的实际应用提供了理论支持和技术参考，对推动智慧农业发展具有重要意义。
关键词：多功能末端执行器；农业机器人；模块化设计；仿生学原理；多传感器融合技术
DESIGN AND SIMULATION OF A MULTI-FUNCTIONAL END EFFECTOR FOR AGRICULTURAL ROBOTS
ABSTRACT
With the rapid development of agricultural modernization, traditional manual operations are no longer sufficient to meet the demands of efficient and precise agricultural production, making the design of multifunctional robotic end-effectors a critical component in enhancing agricultural automation. This study focuses on designing a multifunctional end-effector suitable for various crop operation scenarios, with its performance validated through simulation analysis. Based on modular design principles, combined with bionic concepts and mechanical structure optimization methods, the proposed end-effector integrates harvesting, spraying, and monitoring functions, enabling it to adapt to diverse tasks in complex farmland environments. Three-dimensional modeling was completed using SolidWorks, while static and dynamic simulation analyses were conducted using ANSYS. The results demonstrate superior performance in terms of load capacity, flexibility, and stability. Additionally, an innovative adjustable gripping mechanism and multi-sensor fusion technology were introduced, significantly improving the adaptability and intelligence level of the end-effector. The conclusions of this study provide theoretical support and technical references for the practical application of multifunctional end-effectors in agricultural robots, playing a significant role in advancing smart agriculture.
KEY WORDS：Multifunctional End Effector；Agricultural Robot；Modular Design；Bionic Principle；Multi Sensor Fusion Technology
目 录
摘 要 I
ABSTRACT II
第一章 绪论 1
1.1 农业机器人末端执行器的研究背景与意义 1
1.2 国内外研究现状分析 1
第二章 多功能农业机器人末端执行器的需求分析 1
2.1 农业作业对末端执行器的功能要求 2
2.2 不同应用场景下的性能需求 2
2.3 关键技术难点与解决方案 2
第三章 多功能农业机器人末端执行器的设计方案 3
3.1 执行器机械结构设计原则 3
3.2 动力系统与传动机构选型 3
3.3 模块化设计思路及其优势 4
第四章 多功能农业机器人末端执行器的仿真验证 4
4.1 仿真平台的选择与搭建 5
4.2 动力学特性仿真分析 5
4.3 仿真实验结果与优化建议 6
结 论 6
参考文献 7
致 谢 8
