中文摘要：

为保证果蔬采摘机构设计质量，针对机构构型方案信息的模糊性和不确定性，选取模糊综合评价法进行比较优选。分析果蔬采摘机构工作性能指标的关联性和重要性，确定构型方案评价因素指标，构建方案评价层次结构。建立模糊综合评价数学模型，确定模糊量化方法和评价隶属度矩阵。选取层次分析方法，确定评价因素权重集。对菠萝采摘机构的评价优选表明，RRP串联手臂机构和RR并联手腕机构组成的构型方案综合评价分值最高，3RPS并联手臂机构和RR串联手腕机构组成构型方案评价分值最低。评价结果与理论分析结果一致，表明模糊综合评价模型具有合理性与实用性。

英文摘要：

Abstract： To ensure design quality of fruit and vegetable picking mechanism, according to the fuzziness and uncer tainty of mechanism configuration scheme information, the fuzzy comprehensive evaluation method was applied for the optimal selection of mechanism configuration scheme. The importance and relevance of fruit and vegetable pick ing mechanism performance index was analyzed, the configuration scheme evaluation factor index was formulated and the evaluation hierarchy was constructed. Fuzzy comprehensive evaluation mathematics model was also estab lished. Fuzzy quantitative method and evaluation membership matrix were defined. The analytic hierarchy method was utilized and the evaluation factor weight set was determined. This fuzzy comprehensive evaluation method was applied to pineapple picking mechanism configurati configuration scheme composed by RRP series arm on scheme, and the results show that the evaluation score of the and RR parallel wrist is the highest, evaluation score of the con figuration scheme composed by 3RPS parallel arm and RR series wrist is the lowest. Evaluation results are consist ent with the theoretical analysis results. This shows that the evaluation method is reasonable and effective. The fuzzy comprehensive evaluation model provides high efficient intelligent.