【摘要】 针对火龙果采集机械手的采集环境和采摘特性，设计了一个六自由度采摘机械手，包括5个主要系统，实现了对火龙果的智能采摘。经过对末端执行器进行机械结构设计，可以达到整个火龙果果园采摘流程的智能化。此机制克服了人们摘高处火龙果困难、火龙果采集压力大和人工采集存在一定风险的弊端，实现了小型火龙果和各类火龙果不受外界影响的自动采集。更多还原

【Abstract】 In view of the collection environment and picking characteristics of pitaya, this study designed a six-degree-of-freedom picking manipulator, Including five main systems, realizing the intelligent picking of pitaya. Through the mechanical structure design of the end effector, the intelligentization of the whole pitaya orchard picking process can be achieved. This mechanism overcomes the disadvantages of difficulties in picking pitaya at high places for people, high pressure in pitaya collection, and certain risks existing in manual collection, and realizes the automatic collection of small pitayas and various pitayas without being affected by the outside world.更多还原