中文摘要：

为改变我国蓝莓种植人工采收现状，在课题组分析蓝莓植株生长形态、振动采摘机理的基础上，设计并研制蓝莓采摘原理样机。根据蓝莓采摘机的工作原理与运动要求，对采摘机构的核心部件一凸轮传动装置进行设计与分析，选择凸轮结构类型及外廓曲线种类，建立凸轮曲线方程。在ADMAS环境下，建立凸轮运动学模型并进行运动学仿真分析，制作了蓝莓采摘原理样机，并进行蓝莓采摘试验研究，得出凸轮转速与采摘机的采摘效率、未成熟果实采摘率、采摘果实破损率成正比，与未采摘成熟果实率成反比。

英文摘要：

To change artificial harvest status of the blueberry planting in China, design and develop blueberry picking principle prototype based on the analysis of the blueberry plant growth forms and the mechanism of vibration picking. According to the working principle and movement requirement of the blueberry picking machine, design and analyze the core parts of picking mechanism-cam transmission device, choose the structure type and outer contour curve kind of cam, and cam curve equation is established. Under the environment of ADMAS, cam kinematics model is set up and carry out kinematics simulation analysis, make a blueberry picking, principle prototype, and experimental study for picking blueberries, draw the rotation speed of the cam is proportional to picking efficiency of picklng machine, picking rate of immature fruit, picking fruit breakage rate, and is inversely proportional to the rate of picking ripe fruit.