高架草莓连续采摘机器人末端执行器结构设计与仿真

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中图分类号：S225 文献标识码：A 文章编号：2095-2953（2026）01-0074-05

Structural Design and Simulation of End Effector for Continuous Harvesting Robot of Elevated Strawberries

LI Jia-hao

（CollegeofMechanicalandElectricalEngineering，NortheastForestryUniversity，HarbinHeilongjiang15O04，China）

Abstract：Strawberry-picking robots serve as an important technical means to alleviate labor shortages and improve picking effciency.Asa keycomponent directly acting on fruits，theend effector has asignificant impact on the picking qualityand eficiency.Strawberries are characterized by thin peels，juicy flesh，fragility，and vulnerability to damage.Moreover，their growth environment is complex，with great variations in fruit shape，maturity， and posture.For this reason，anew type of end effector was designed，which innovativelyadopts the operation mode of "cuting the pedicel-clamping the pedicel" to replace the traditional fruit grabbing method.By virtue of precision pedicel positioning technology，it achieves rapid cuting and stable clamping of the pedicel. The entire process involves no direct contact with the fruit，fundamentall reducing the risk of fruit damage.Meanwhile，the continuous operation mechanism greatly improves picking eficiency and efectively copes with complex situations such as fruit overlapand occlusion.This study provides new ideas for breaking through existing technical bottlenecks and is of great significance for promoting the technological upgrading and industrial application of strawberry picking robots.

Key words ：strawberry harvesting;end effector; continuous harvesting； finite element analysis

在农业现代化发展需求的驱动下，草莓采摘机器人成为缓解产业劳动力短缺、提升采摘效率的核心技术[1]。（剩余6914字）