Study on the Geomechanical Characteristics and Grasping Damage Mechanism of Korla Fragrant Pear

The geometric and physical parameters and picking extrusion factors of Korla fragrant pear are studied and analyzed, which provide theoretical basis for the design of picking robot manipulator.The experimental method is to analyze the geometric and physical parameters of 160 mature Korla fragrant pears, and to study the influence of extrusion factors on the mechanical indexes during the picking process by single factor loading and unloading test. The results of physical parameters showed that the average weight of pear was 122.34 g, the longitudinal diameter was larger than the transverse diameter, the average aspect ratio was 1.22, the static friction coefficient was 1.13, the dynamic friction coefficient was 1.10, and the grasping force range of the manipulator was about 0.53-35 N. The single factor loading and unloading test results showed that the mechanical indexes were linearly related to the compression amount, and the compression amount was less than 3.5 When the loading rate was 60 mm/min, the peak force was the smallest and the lag loss was the smallest; the damage degree of the equatorial part was greater than that of the middle and tail ends, and the compression resistance was weaker; the contact material silica gel could absorb the energy generated in the compression process better than stainless steel and plastic, and provided protection for the fruit.