Abstract
Presents a kind of bionic end-effector which can imitate the human hand to pluck tea flushes. The mechanical structure of the bionic plucking finger is designed. Dynamic and static analysis are carried out to improve the dexterity and compactness. Genetic algorithm is employed to optimize the geometric parameters. The transmission efficiency of driving force is increased by 26.6%. Then, the prototype of the bionic plucking fingers is made, and the design of pneumatic drive and control system is completed. The indoor tests show that the success rate of plucking is about 70%, which can realize the expected action.
Publication Date
10-28-2018
First Page
86
Last Page
90
DOI
10.13652/j.issn.1003-5788.2018.10.018
Recommended Citation
Miao, HAO; Yong, CHEN; Zhigang, PAN; and Ye, SUN
(2018)
"Development of a bionic plucking finger for high-quality green tea,"
Food and Machinery: Vol. 34:
Iss.
10, Article 18.
DOI: 10.13652/j.issn.1003-5788.2018.10.018
Available at:
https://www.ifoodmm.cn/journal/vol34/iss10/18
References
[1] 周智修, 段文华, 吴海燕, 等. 我国名优茶发展现状与趋势[J]. 茶叶科学, 2013, 33(2): 171-178.
[2] 段学艺, 胡华建, 忘家伦, 等. 茶叶3种采摘方式的效益比较[J]. 贵州农业科学, 2011, 39(5): 79-80.
[3] 汪建. 结合颜色和区域生长的茶叶图像分割算法研究[J]. 茶叶科学, 2011, 31(1): 72-77.
[4] 汪建, 杜世平. 基于颜色和形状的茶叶计算机识别研究[J]. 茶叶科学, 2008, 28(6): 420-424
[5] WANG Jian, ZENG Xian-yin, LIU Jian-bing. Three-dimensional modeling of tea-shoots using images and models[J]. Sensors, 2011(11): 3 803-3 815.
[6] 骆耀平, 宋婷婷, 文东华, 等. 茶树新梢节间与展叶角度生长变化及对名优茶机采的影响[J]. 浙江大学学报: 农业与生命科学版, 2009, 35(4): 420-424.
[7] 张兰兰, 董迹芬, 唐萌, 等. 名优茶机采鲜叶分级技术研究[J]. 浙江大学学报: 农业与生命科学版, 2012, 38(5): 593-598.
[8] 韦佳佳, 陈勇, 金小俊, 等. 自然环境下茶树嫩梢识别方法研究[J]. 茶叶科学, 2012, 32(5): 377-381.
[9] JIN Xiao-jun, CHEN Yong, ZHANG Hao, et al. High-quality tea flushes detection under natural conditions using computer vision[J]. JDCTA: International Journal of Digital Content Technology and Its Applications, 2012, 6(8): 600-606.
[10] 张浩, 陈勇, 汪巍, 等. 基于主动计算机视觉的茶叶采摘定位技术[J]. 农业机械学报, 2014, 45(9): 61-78.
[11] 汤一平, 王伟羊, 朱威, 等. 基于机器视觉的茶陇识别与采茶机导航方法[J]. 农业机械学报, 2016, 47(1): 45-50.
[12] 汤一平, 韩旺明, 胡安国, 等. 基于机器视觉的乘用式智能采茶机设计与试验[J]. 农业机械学报, 2016, 47(7): 15-20.
[13] 潘志刚. 名优绿茶仿生采摘指控制系统研究[D]. 南京: 南京林业大学, 2018: 39-47.