Abstract: As an important component of picking robot, end-effector directly interacts with picking object. Because of the particularity of its picking object, the development of end-effector was one of the key technologies for agriculture-used robot，especially for fruit and vegetable harvesting robot. Its performance directly affected the robot picking efficiency. Based on the bionics principle, the configuration of end-effector transmission mechanism was designed with snake mouth as especial prototype. The preliminary model of end-effector was completed, and the design of pneumatic driving and control systems were also achieved. The communication of lower controller arduino was ensured and host computer-PC was completed. Based on the growth of citrus fruit and operation principle of end-effector, the end effector picking experiment was designed and achieved. Then, the picking success-rate analysis and picking executive system optimization were all completed.

Key words: citrus picking, end-effector, bionics design, pneumatic driving, Arduino, picking experiment

摘要： 作为采摘机器人的重要组成部分，末端执行器是与采摘对象直接接触的最后执行部件，由于其采摘对象的特殊性，末端执行器的研制成为了农业机器人尤其是果蔬采摘机器人的关键技术之一，它的性能优异程度直接影响机器人的收获效率。基于仿生学理念，以蛇的吞咽动作和上颚结构为构型设计原型，提出末端执行器设计的机构构型，并完成末端执行器的初步模型设计。完成其控制系统设计与气压驱动系统设计，实现下位机控制器Arduino与PC上位机的通信。根据柑橘果实的生长情况与该型末端执行器作业状态分析，设计了末端执行器采摘试验，完成其采摘成功率分析与采摘执行系统优化。

关键词: 柑橘采摘, 末端执行器, 仿生设计, 气压驱动, Arduino, 采摘试验