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Position: Home > Articles > Study on Kiwifruit Physical Parameters and Damage Factors Journal of Agricultural Mechanization Research 2014 (11) 141-145

猕猴桃果实物理参数与损伤因素的研究

作  者：
张发年;李桢;王滨;傅隆生;崔永杰
单  位：
西北农林科技大学机械与电子工程学院
关键词：
猕猴桃果实;采摘机器人;末端执行器;物理参数;微损伤
摘  要：
猕猴桃果实的物理参数和损伤因素为采摘机器人的末端执行器设计与控制提供了理论依据。统计分析了115个收获期"海沃德"猕猴桃果实的物理参数,采用正交试验以果实微损伤的力学特性参数为评价指标研究了果实的损伤因素。结果表明:猕猴桃果实厚度方向尺寸变化最小,球度均值为0.84。果实的几何平均直径与质量存在显著线性相关,相关系数R为0.964。正交试验结果表明,猕猴桃果实存在延迟损伤,早期的微损伤会导致后期果实品质下降。猕猴桃果实的损伤因素,显著性居前3位的为压缩量、加载位置和压头类型。相比前3个损伤因素,加载速率和压头材料相对影响较小。采摘机器人的末端执行器采用两个仿生弧形面、厚度方向抓持,机构简单,受力均匀,抓持稳定。
译  名：
Study on Kiwifruit Physical Parameters and Damage Factors
作  者：
Zhang Fanian;Li Zhen;Wang Bin;Fu Longsheng;Cui Yongjie;College of Mechanical and Electric Engineering,Northwest A&F University;
关键词：
kiwifruit;;harvesting robot;;end-effector;;physical parameters;;micro damage
摘  要：
The physical parameters and damage factors of kiwifruit provide a basis for designing and controlling the endeffector of harvesting robot.In this paper,physical parameters of 115 hayward kiwifruit handed harvesting during mature period were analyzed,and mechanical property parameters when fruit was micro damaged were chosen as evaluation indexes to study the damage factors by orthogonal experiment.the results showed that kiwifruit thickness direction had a minimum deviation,and the mean value of sphericity was 0.84.There was a significant linear correlation between the geometric mean diameter and quality of the fruit,the correlation coefficient R was 0.964.The results of the orthogonal experiment showed that delay injury of the kiwifruit caused by early damage made a result of a decline of fruit quality in the late.The top three of the significant order of damage factors was the amount of compression,load position,pressure head type,load rate and probe material successively.The appropriate structure of the end-effector was two bionic curved surface and the thickness direction of grasping,which was simple,uniform stress and grasping stability.

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