文档介绍：黑龙江工程学院本科生毕业设计 I 摘要水果和蔬菜是人类生活中必不可少的食物,种植面积和产量逐年提高。研究开发适合目前农业生产实际的果蔬采摘机器人,不仅可以很大程度减轻劳动强度、提高生产效率,而且具有广阔的应用前景。本文在充分了解国内外相关研究和应用现状的基础上,对小浆果采集机械手进行了研究。分析了机械手的组成结构、各组成部分的功能、工作原理完成了采摘机械手部分的设计。包括腰部转动关节、大臂、小臂、腕部、末端执行器具体结构的设计, 该机械手具有较好的工作空间、运动学特性,能够满足小浆果采集的工作要求, 在提高工作效率和采摘质量的同时, 应考虑尽量降低小浆果采集机械手的制造成本,提高其通用性,以期实现小浆果采集的商业化。关键词: 小浆果采集;机械手;采集机械手;小浆果;机械手设计黑龙江工程学院本科生毕业设计 II ABSTRACT Fruit and vegetables are absolutely necessarily food inour lives , the planted and output of them is boosting yearby and development about robot for picking fruit and vegetables that adapt to growth practical at present ,not only canalleviate intensity of labour and advance productivity effect , also have expansive appliedp rospect. In this paper , both at home and abroad to fully understand the current situation related to the research and application on the basis of the collection of small berries manipulator is studied. Analyzed position of the structure of robot , ponent of the function , working principle of pletion of part of the picking robot design. Including the arm , forearm , wrist , the end of the specific structure of the actuator design. The design of rotating the waist joint , the manipulator has a good working space , kinematic properties , to meet the small berries collected requirements . In improving the efficiency and quality at the same time picking , consideration should be given to minimize the collection of small berries robot manufacturing costs and enhance its versatility with a view to achieving a small business of collecting berries. Key words :S mall berries collected ; Manipulator ;C ollection Manipulator ;S mall berries ; M anipulator design 黑龙江工程学院本科生毕业设计 1 毕业设计(论文)原创性声明和使用授权说明原创性声明本人郑重承诺:所呈交的毕业设计(论文) ,是我个人在指导教师的指导下进行的研究工作及取得的成果。尽我所知, 除文中特别加以标注和致谢的地方外, 不包含其他人或组织已经发表或公布过的研究成果, 也不包含我为获得及其它教育机构的学位或学历而使用过的材料。对本研究提供过帮助和做出过贡献的个人或集体, 均已在文中作了明确的说明并表示了谢意。作者签名: 日期: ?