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中文摘要：
基于香蕉的种植特点和人工采摘特性，模拟人工采摘行为，对香蕉采摘机械手的抓取机构进行设计．利用三维软件构建了采摘机械手抓取机构的三维模型并将此模型导入到ADAMS对虚拟样机进行仿真分析，通过实验数据与仿真结果进行比较，验证了采摘机械手抓取机构设计的合理性，为香蕉采摘机械手的结构设计及仿真提供了一种可行的方法．
英文摘要：
Based on agronomic and harvest characteristic analysis for banana, according to bionic princi ple, a grab mechanism of picking banana manipulator simulating action of a person manually picking bananas was proposed. The three-dimensional model system was built using three-dimensional software and this model was put into ADAMS virtual prototype and was simulation analyzed, experimental data and simulation results were compared, the results verify the grab mechanism of picking robot designed is rationality. The method is feasible for the banana picking robot design and simulation.
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同项目期刊论文
Fault-tolerant design of a limited universalfruit-picking end-effector based on visoin positioning e
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