Design and Experimental Optimization of End Effector for Picking Famous Tea with Split-cutter

CHEN Jianneng, LI Hang, LIU Linmin, JIA Jiangming, ZHAO Runmao, WU Chuanyu


In response to the problem of side buds being unable to be picked during the mechanized picking process of famous tea, an end effector was designed based on the relevant parameters of top buds, side buds, and tea stems, combined with the tea garden environment, which used the bending deformation of the cutter teeth of the split cutter to adapt to the interference of tea stems to pick side buds. The influencing factors of picking success rate were obtained by finite element simulation of cutting lateral buds: cutter tooth width, cutter tooth length and cutter thickness; the central composite design with three factors and three levels and response surface analysis were used to study the interaction of various factors on the success rate of picking; taking the picking success rate as the response value, a quadratic regression model was established to determine the significant primary and secondary order of the influence of each factor on the picking success rate as follows: cutter tooth length, cutter tooth width, and cutter thickness. Taking the picking success rate as the goal, the experimental factors were optimized, and the optimized parameters were obtained: the cutter tooth width, cutter thickness, and cutter tooth length were 2.6mm, 0.90mm, and 20.0mm, respectively. The optimized parameters were tested in tea garden picking, the results showed that the end effector could effectively pick tea leaves, and the success rate of picking top buds and side buds was 93% and 63%, the relative error between the experimental value and the predicted value was less than 5%, the optimized model was reliable.

Keywords: famous tea, tea picking robot end effector, split cutter, lateral bud


Download Full Text:



ZHANG Lanlan. Research on the classification technology and the classifier of machine-plucking high quality tea[ D]. Hangzhou: Zhejiang University,2012. (in Chinese)

ZHOU Yujie,WU Qiang,HE Leiying,et al. Design and experiment of intelligent picking robot for famous tea [ J ]. Journal of Mechanical Engineering, 2022,58( 19) : 12 —23. (in Chinese)

FIROUZI S, AZARIAN F. Propellants of mechanical pruning and plucking of tea (a case of developing countries) [ J]. Information Processing in Agriculture, 2019,6(4) ; 454 -461.

WU Qiang. Design and motion control of the robot arm for famous tea picking [ D ]. Hangzhou ; Zhejiang Sci-Tech University, 2022. (in Chinese)

GAO Renpeng. Development of intelligent tea picking system based on image processing[ D]. Wuhan; Huazhong Agricultural University,2022. (in Chinese)

GAO Feng. Structural design and simulation of a high-quality tea parallel plucking robot [ D]. Nanjing: Nanjing Forestry University,2013. (in Chinese)

НАО Miao,CHEN Yong,PAN Zhigang,et al. Development of a bionic plucking finger for high-quality green tea [J ]. Food and Machinery, 2018,34(10); 86 -90. (in Chinese)

ZHU Renzhang. Structural design and optimization of famous tea picking robot[ D]. Nanchang: Jiangxi Agricultural University, 2022. (in Chinese)

ZHU Y, WU C, TONG J, et al. Deviation tolerance performance evaluation and experiment of picking end effector for famous tea [J]. Agriculture, 2021 ,11 (2) : 128.

CHEN Jianneng, LI Hang, КЕМ Ping, et al. Design and experiment of threaded tube adsorption type famous tea harvester [J]. Transactions of the Chinese Society for Agricultural Machinery, 2023,54(5) : 131 - 139. (in Chinese)

JIA Jiangming,YE Yuze, CHENG Peilin, et al. Design and experimental optimization of hand-held manipulator for picking famous tea shoot [J ]. Transactions of the Chinese Society for Agricultural Machinery, 2022,53(5) ; 86 -92. (in Chinese)

XU Lijia, LIU Qi, DAI Jianwu, et al. Design of end effector for picking tea shoots[ J]. Journal of Tea Science, 2021 ,41 (5) ; 705 -716. (in Chinese)

MICKOVSKI S B, STOKES A, VAN BEEK R, et al. Simulation of direct shear tests on rooted and non-rooted soil using finite [J] . Ecological Engineering, 201 1 ,37; 1523 - 1532.

KELLN C, SHARMA J, HUGHES D. A finite element solution scheme for an elastic-viscoplastic soil model J J. Computers and Geotechnics, 2008,35; 524 -536.

SOUZA V H S, SANTOS AAR, COSTA A LG, et al. Evaluation of the interaction between a harvester rod and a coffee branch based on finite element analysis[J]. Computers and Electronics in Agriculture, 2018,150; 476 -483.

MENG Y, WEI J, WEI J, et al. An ANSYS LS-DYNA simulation and experimental study of circular saw blade cutting system of mulberry cutting machine [ J]. Computers and Electronics in Agriculture, 2019,157; 38 -48.

SHI Yinyan, CHEN Man, WANG Xiaochan, et al. Dynamic simulation and experiments on Artemisia selengensis orderly harvester cutter [ J ] Transactions of the Chinese Society for Agricultural Machinery, 2017,48(2) ; 1 10 - 1 16. (in Chinese)

HUANG Handong, W ANG Yuxing, TANG Yanqin, et al. Finite element simulation of sugarcane cutting [J] . Transactions of the CSAE, 2011, 27(2); 161-166. (in Chinese)

KOVACS A, KERENYI G. Physical characteristics and mechanical behaviour of maize stalks for machine development[ J]. International Agrophysics, 2019,33; 427 -436.

WU Kun,SONG Yuepeng. Research progress analysis of crop stalk cutting theory and method[ J]. Transactions of the Chinese Society for Agricultural Machinery, 2022,53(6); 1 -20. (in Chinese)


  • There are currently no refbacks.