A simulation model of ear vibration shedding and its construction method
A technology of simulation model and ear, which is applied in special data processing applications, instruments, electrical digital data processing, etc. It can solve the problems of fruit connection failure and falling on trees, and difficulty in meeting the requirements of robots to prevent fruit drop picking.
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[0038] The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
[0039] Such as figure 1 As shown, the ear includes a stalk system and a plurality of fruit grains 1, wherein the stalk system includes a main cob 4, several branch cobs 3 and some fruit stalks 2 further separated by each branch cob 3, and several branch cobs 2 The branch cob 3 is connected with the main cob 4 , and several fruit stalks 2 are respectively connected with the branch cob 3 , and each fruit grain 1 is connected with the fruit stalk 2 at the fruit pedicle 5 .
[0040] Such as figure 2As shown, in the picking stage of the fast picking operation of the robot, the two fingers of the robot quickly close at a speed v, clamp the protruding part of the main cob 4 and complete the cutting of the main cob 4 . Caused by the asymmetric deviation δ or non-parallel deviation ε between the robot’s two fingers...
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