The effects of cutting parameters on the peak force and success rate of cutting citrus fruit stems are investigated. Experiments were carried out in a system composed of electric horizontal cutting force test platform and a digital push–pull force meter. The cutting parameters included the diameters and moisture content of fruit stems, the weight of citrus fruit, the cutting speed and the gap between the two blades, deflection and inclination angles of citrus fruit stems. Regression analyses show that the peak force increases with the increase of diameters of fruit stems and the weight of fruits. Meanwhile, the peak force decreases when the moisture content of fruit stems and the cutting speeds increase. The regression results also show complex relationship of peak force with the gap between the two blades, the deflection angles of stems, and the inclination angles of stems. The effects of the gap between the two blades, the deflection angles of stems, and the inclination angles of stems on the success rate reveal that a high cutting success rate occurred when the gap between blades was smaller than the diameter of stem, or the deflection angle was smaller than 70° and the inclination angle was larger than 20°. Based on our results, the end-effector of harvesting citrus fruit can be designed using the structural parameters including a 1 × 10−3 m gap between the two blades, a declination angle in a range of [−70°,70°] and an inclination angle in a range of [25°, 90°].

中文翻译：

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切削参数对柑桔茎秆切削的影响

研究了切割参数对柑橘类水果茎的切割峰值力和成功率的影响。在由电动水平切削力测试平台和数字推拉力计组成的系统中进行实验。切割参数包括果梗直径和水分含量、柑橘重量、切割速度和两刀片间隙、柑橘果梗偏转和倾斜角度。回归分析表明，峰值力随着果茎直径和果实重量的增加而增加。同时，随着果梗含水量的增加和切削速度的增加，峰值力减小。回归结果还表明峰值力与两叶片之间的间隙、茎的偏转角、和茎的倾斜角度。两刀片间隙、茎的偏转角和茎的倾斜角对成功率的影响表明，当刀片之间的间隙小于茎的直径时，切割成功率较高，或偏转角度小于 70°，倾角大于 20°。基于我们的研究结果，采摘柑橘类水果的末端执行器可以使用结构参数进行设计，包括两个叶片之间的间隙为 1 × 10−3 m，偏角范围为 [−70°,70°] 和[25°, 90°]范围内的倾角。成功率上茎的倾斜角度表明，当刀片间隙小于茎直径，或偏转角小于70°且倾斜角度大于20°时，切割成功率较高。基于我们的研究结果，采摘柑橘类水果的末端执行器可以使用结构参数进行设计，包括两个叶片之间的间隙为 1 × 10−3 m，偏角范围为 [−70°,70°] 和[25°, 90°]范围内的倾角。成功率上茎的倾斜角度表明，当刀片间隙小于茎直径，或偏转角小于70°且倾斜角度大于20°时，切割成功率较高。基于我们的研究结果，采摘柑橘类水果的末端执行器可以使用结构参数来设计，包括两个叶片之间的 1 × 10−3 m 间隙、[−70°,70°] 范围内的偏角和[25°, 90°]范围内的倾角。