中文摘要：

为了给柑橘采摘机器人切割装置设计提供依据,根据采摘时被切割果柄弯曲的工作状态,设计了果柄切割夹持试验架,对柑橘果柄进行了不同切割条件的切割试验。结果表明：切割过程中,柑橘果柄发生弯曲,随着滑切角增大,果柄产生的起始裂纹从外侧转移到内侧,同时果柄切口更光滑;切割速度、刀具形式和滑切角均显著影响柑橘果柄的切割力学参数;随着切割速度的增大,峰值切割力、切割功率和切割位移均先快速减小,然后缓慢减小;随着滑切角的增大,峰值切割力减小,但切割位移先减少后增大;当滑切角为0°时,相比平刀和齿刀,弧刀对柑橘果柄的峰值切割力和切割位移最少;采用平刀切割,滑切角不应太大,以免切割位移过大,降低采摘速度;使用齿刀切割,滑切角应大于30°,不但峰值切割力大大减小,而且切割位移增加也较小。

英文摘要：

In order to provide evidence for designing cutting device of citrus picking robot,according to the bent work state when picking the cut pedicel,a cutting pedicel test fixture was designed and a cutting experiment under different citrus pedicel cutting condition was carried out. The experiment results indicated that citrus pedicels were bent first when cutting,with the sliding angle increasing,the initial crack of pedicel transferred from the outside to the inside,and the pedicel incision became smooth simultaneously;cutting speed,cutter form and sliding angle affected significantly mechanical parameters of citrus pedicel;with the cutting speed increasing,the peak cutting force,cutting power and cutting displacement decreased rapidly at the initial phase,but decreased slowly at the last phase;with the sliding angle increasing,the peak cutting force decreased,but the cutting displacement decreased initially and then increased; compared with the flat cutter and teeth cutter,the peak cutting force and cutting displacement of citrus pedicel were minimum for arc cutter when the sliding angle was 0°;the sliding angle should not be too much for fear that cutting displacement was too large and cutting speed became slower when using the flat cutter;the sliding angle should be larger than 30° when using the teeth cutter,not only the peak cutting force reduced greatly but also the growth rate of cutting displacement was less.