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| Structure design and optimization of mushroom picking robot |
| SUN Longxia1， LYU Ning2， YU Feng1， GE Xunyi1， HU Shuangyan1 |
| 1. Jiangsu Province Agricultural Machinery Application Center, Nanjing， Jiangsu 210036, China； 2. College of Artificial Intelligence, Nanjing Agricultural University, Nanjing， Jiangsu 210031, China |
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Abstract To solve the problems of picking mushrooms manually in the factory mushroom growing environment with consuming time and labor， a mushroom picking robot was designed and developed. The mechanical structure of the picking robot system was designed by the modular design method, and the positive and negative kinematics solutions of the robot were deduced based on the D-H coordinate method to analyze the dynamic performance of the picking arm. The multi-objective optimization model of picking arm size structure was established for maximizing the picking efficiency, and the optimal solution was obtained with rapid iteration by genetic algorithm. The Adams virtual prototype model was established, and the picking dynamics simulation tests of the robot model before and after optimization were conducted. The simulation results show that under the same motor output torque, the maximum angular velocities of the big arm joint and the small arm joint are increased by 22.9% and 18.6%， respectively, while the single picking time is shortened from 1.60 s to 1.36 s with the picking speed increased by 15%. The developed physical prototype is suitable for the large area automatic picking operation in the sall multi-layer mushroom bed under the factory mushroom growing mode, and the single picking time is 2.0 s.
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Received: 01 November 2023
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2024, Vol. 45 
