摘 要
随着农业机械化和智能化的快速发展，小型果园采摘机器人成为提升水果采摘效率、降低人工成本的重要研究方向。本研究旨在设计一种适用于小型果园复杂地形的采摘机器人机械结构，以解决传统采摘方式效率低、劳动强度大的问题。通过分析果树种植环境及果实分布特点，采用模块化设计理念，构建了包含多自由度机械臂、末端执行器和移动平台的综合机械系统。其中，机械臂采用轻量化材料并优化关节布局，以适应果园狭窄空间；末端执行器结合仿生学原理，实现果实的无损抓取与分离；移动平台则配备全向轮结构，增强地形适应能力。实验结果表明，所设计的机械结构能够准确完成果实定位、抓取及放置任务，采摘成功率超过90%，且对果实损伤率低于5%。该研究创新性地将仿生学与模块化设计融入采摘机器人机械结构中，为小型果园智能化采摘提供了可行的技术方案，具有重要的应用价值和推广前景。
关键词：小型果园采摘机器人；机械结构设计；仿生学原理；模块化设计；果实无损采摘
dESIGN OF mECHANICAL sTRUCTURE FOR sMALL-SCALE oRCHARD pICKING rOBOT
ABSTRACT
With the rapid development of agricultural mechanization and intelligence, small orchard harvesting robots have become an important research direction for improving fruit picking efficiency and reducing labor costs. This study aims to design a mechanical structure for harvesting robots suitable for complex terrains in small orchards, addressing the issues of low efficiency and high labor intensity in traditional picking methods. By analyzing the planting environment of fruit trees and the distribution characteristics of fruits, a modular design concept was adopted to construct an integrated mechanical system comprising a multi-degree-of-freedom robotic arm, an end effector, and a mobile platform. The robotic arm utilizes lightweight materials and optimized joint arrangements to adapt to the narrow spaces of orchards. The end effector incorporates bionic principles to achieve non-destructive fruit grasping and separation, while the mobile platform is equipped with omni-directional wheel structures to enhance terrain adaptability. Experimental results demonstrate that the designed mechanical structure can accurately complete tasks of fruit positioning, grasping, and placement, with a picking success rate exceeding 90% and fruit damage rate below 5%. This research innovatively integrates bionics and modular design into the mechanical structure of harvesting robots, providing a feasible technical solution for intelligent fruit picking in small orchards and showcasing significant application value and promotion potential.
KEY WORDS：Small Orchard Picking Robot；Mechanical Structure Design；Bionic Principle；Modular Design；Fruit Non-Destructive Harvesting
目 录
摘 要 I
ABSTRACT II
第一章 绪论 1
1.1 小型果园采摘机器人研究背景与意义 1
1.2 国内外机械结构设计研究现状分析 1
第二章 采摘机器人整体结构设计 1
2.1 机械结构功能需求分析 2
2.2 整体框架布局优化设计 2
2.3 关键部件选型与匹配策略 2
第三章 操控系统与运动机构设计 3
3.1 运动控制原理及其应用 3
3.2 机械臂结构设计与仿真分析 4
3.3 移动平台稳定性设计研究 4
第四章 采摘执行机构设计与优化 4
4.1 果实识别与采摘机制设计 5
4.2 执行机构材料选择与性能评估 5
4.3 采摘效率提升方案探讨 5
结 论 6
参考文献 7
致 谢 8
