PARAMETER ANALYSIS AND EXPERIMENT OF CITRUS STALK CUTTING FOR ROBOT PICKING

In order to provide the basis for design and control of a citrus picking robot clamp cutter, find optimal combination cutting parameters, this study used self-made stem test-bed effects diameter, blade speed, clearance, tool sliding angle on peak force stems through single-factor experiment. Based test, are selected as influencing factors, multi-factor test is carried out with target force, regression model established. The results showed that increased linearly diameter fruit stalk, decreased increase speed angle, first then clearance. Through optimisation analysis model, it found parameter 40 mm/min, gap 1 mm, 20°, under 168.23 N. deviation between predicted value measured less than 2%, result parameters reliable. This provides theoretical clamping mechanism robot.