振枝式林果采摘多轴机械臂系统软硬件架构设计OA

Aiming at the requirements of high reliability and flexible parameter adjustment in vibration-based fruit harvesting,a remote-controlled multi-axis mechanical arm system with a branch-shaking mechanism was proposed,focusing on the overall software and hardware architecture.The system adopted an open-loop control strategy based on a velocity loop,enabling parallel motion of multiple axes through remote control commands.The vibration frequency and motion speed can be adjusted online to adapt to different operating conditions.On the hardware side,a multi-axis control platform based on the STM32H743ZIT6 micro-controller was developed,and multiple communication interfaces were integrated to support information exchange within the system and with external devices.On the software side,a real-time operating system was employed to uniformly schedule multi-axis control tasks,communication management tasks,and system monitoring tasks.A layered software architecture was further constructed to enhance system maintainability and scalability.Functional verification of the prototype system demonstrated that the proposed software and hardware architecture can stably support the operational process of branch grasping and vibration-based fruit harvesting by a multi-axis mechanical arm,thereby validating the engineering feasibility of the system architecture.The proposed work provides a practical reference for the architectural design and engineering implementation of vibration-based multi-axis fruit harvesting robotic systems.