采摘机械手由步进电机驱动，在Z方向的运动行程需满足茶蓬冠面的高度差，本

The picking manipulator is driven by a stepper motor, and the movement stroke in the Z direction needs to meet the height difference of the tea canopy crown surface. Itinerary trimmed tea tent. The opening and closing of the blade is selected by the micro cylinder drive system, which has a simple structure, stable speed, low cost and easy maintenance. It meets the requirements of driving the blade to open and close. Compared with the motor, the micro cylinder is small in size and light in weight. The end effector part is not easily burdened.

Picking robot driven by stepper motor, in the Z direction of the movement of the trip needs to meet the height difference of the teacan crown surface, this paper designendacter in the Z-direction of the trip for 200mm, to meet the common teacan trimcrown crown conditions, can be pruned teacan according to this trip. Blade opening and closing selection micro cylinder drive system, its simple structure, can obtain stable speed, low cost and easy to maintain, in line with the requirements of driving blade opening and closing, compared with the motor, the micro cylinder is small in size, light weight, for picking the robot's end actuator part is not easy to burden.

The picking manipulator is driven by a stepping motor, and the movement travel in Z direction needs to meet the height difference of the canopy. In this paper, the travel of the end actuator in Z direction is 200 mm, which can meet the common situation of trimming the canopy. According to this travel, the canopy can be trimmed. The micro cylinder driving system is selected for blade opening and closing, which has simple structure, stable speed, low cost and easy maintenance, and meets the requirements of blade opening and closing. Compared with the motor, the micro cylinder is small in volume and light in weight, which is not easy to cause burden on the end actuator of the picking manipulator.<br>