Abstract: At present, most agricultural robots, are based on articulated coordinate, the applications of articulated robots in the fruit-picking are not only with complex control, but also high costs and low efficiencies. To design an agricultural picking robot with simple structure is the focus of current research. In view of the horticultural characteristics of apple cultivation and the shortcomings of articulated manipulator, the hardware structure of robot system is developed based on cylindrical coordinate. An open and distributed architecture based on PC&MP2100 is used in the control system. The harvesting procedure of robot is expounded, the picking control program is compiled, the fuzzy-PID control method and a synchronization controller based on relative coupling strategy are also proposed. The control program and human-machine interface are programmed with C#. Some experiments are made including uniaxial debugging, multi-axis synchronized debugging and tests of CAN communication, motion-consuming and positioning accuracy which show that the average values of single moving time and motion error are 6.619 s and 4.929 mm. The design improves the positioning accuracy, reduces costs, time-consuming and increases picking efficiency compared with articulated manipulator.

Key words: harvesting robot, structure design, distributed control system, fuzzy-PID, test

摘要： 目前绝大部分应用在水果采摘上的关节型机器人控制复杂，成本高，而且采摘效率低，设计结构简单的采摘机器人是研究的重点。针对苹果种植的园艺特点和关节型采摘机械臂的不足，设计了一套基于圆柱坐标的三自由度苹果采摘机器人本体结构。控制系统采用基于PC&MP2100的分布式控制方案，阐明了机器人作业流程，编写了采摘控制程序，控制中引入模糊PID和偏差耦合同步控制方法，并基于C#，开发了人机交互界面。在实验室对机械臂进行了单轴调试、多轴同步调试、运动耗时和定位精度试验，结果表明采摘机械臂单次运动时间平均为6.619 s，平均运动误差值只有4.929 mm，相比关节型机械臂减少了耗时，降低了成本并且提高了定位精度和采摘效率。

关键词: 采摘机器人, 结构设计, 分布式控制系统, 模糊-PID, 性能测试