Resumen
Aiming at the current complex problem of the mechanized high-quality picking of tender tea buds, this paper designs a tender tea bud-picking manipulator. In the picking process, the quality of the petiole and leaf blade of the tender tea bud is crucial, as the traditional cutting picking method destroys the cell structure of the tender tea buds, resulting in rapid oxidation of the cuts, thus losing the bright green appearance and pure taste. For this reason, this paper draws on the quality requirements of tender tea buds and traditional manual picking technology, simulating the process of the manual picking action, putting forward a ?rotary pull-up? clamping and ripping picking method, and designing the corresponding actuating structure. Using PVDF material piezoelectric thin-film sensors to detect the clamping force of the tender tea bud picking, the corresponding sensor hardware circuit is designed. In addition, the finite element analysis method is also used to carry out stress analysis on the mechanical fingers to verify the rationality of the automatic mechanism to ensure the high-quality picking of tender tea buds. In terms of the control of the manipulator, an SMC-PID control method is designed by using MATLAB/Simulink 2021 and Adam 2020 software for joint simulation. The way to control the closed-loop system angle and angular velocity error feedback is by adjusting the PID parameters, which quickly converts the sliding mode control to the sliding mode surface. The simulation results show that the SMC-PID control method proposed in this paper can meet the demand in tender tea bud picking and simultaneously has high control accuracy, response speed, and stability.