Design and Experiment of Two-degree-of-freedom Canopy Shaking Equipment Based on 5R Parallel Mechanism

Vibratory harvesting is an efficient form of mechanized harvesting of tree fruits. In the existing excitation form, non-circular excitation can produce effective vibrations in fruit trees, which can achieve an overall harvesting effect. In order to further improve the harvesting efficiency of fruits, the trajectories of different types of cycloid in non-circular excitation were researched in depth. Fruit tree flexible body models were built through SolidWorks, ANSYS, ADAMS and other software. The cycloid displacement loads of different trajectory parameters were imported into ADAMS, being applied to the excitation point of fruit tree model. By comparing the responses of the tree model to the cycloid displacement loads of different trajectories, the 3-branch No. 1 epitrochoid trajectory E was determined as the optimal excitation trajectory. According to the optimal excitation trajectory, a two-degree-of-freedom canopy shaking equipment driven by a 5R parallel mechanism was designed. The Camellia oleifera tree was used as the shaking object, and the excitation frequency of 6 Hz and amplitude of 90 mm were determined. An experiment prototype was designed and built. Experimental results showed that the shaking rod layout with 7x7 staggered distribution was the optimal layout, and the average synthetic acceleration of the canopy under this layout was 22. 38 m/s. The excitation acceleration transmission efficiency under the shaking rod layout was 77. 63%, which verified the effectiveness of the two-dimensional excitation trajectory. © 2023 Chinese Society of Agricultural Machinery. All rights reserved.