攀爬式椰子采摘机设计与试验

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中图分类号：S225.93 文献标识码：A 文章编号：2095-5553（2025）08-0001-07

Abstract：Toaddressthehighriskandlabor intensityasociatedwithcoconut harvesting，awheel-based tre-climbing harvesting robot was developed.Therationalityand functionaltyof the mechanicaldesign were verified through Adams softwaresimulations，which modeledboth vertical climbingand circular motion.Aditionally，theworkspaceof the roboticarmwas visualized toensure itmet theoperational requirements forcoconut harvesting.Theresultsof the picking test showed that within a voltage range of 12V and below，the robot's climbing speed exhibited a linear relationship with voltage，and the climbing processremained stableand met performance standards.During picking tests conducted within the voltage range of 15-24V ，the average shear time per coconut was 2.8s ，with an average picking success rate of （20 81.5% .Moreover，the picking time decreased progresively asvoltage increased.This research provides botha theoreticaland experimental validationforthedesignofcoconutharvesting machinery.Itofers practical guidance forthe future development and application of coconut harvesting robots.

Keywords：coconut；climbing picker；tree-climbing mechanism；dynamic simulation；Adams

0 引言

椰子因其营养丰富，口味独特深受人们的喜爱，随着椰子深加工的发展，椰子产量也在逐渐增加。（剩余9002字）