切流式摘果是花生全喂入高效收获技术的重要内容和发展方向之一。针对花生切流式摘果作业过程中存在的未摘净率高、损伤率大等问题，本项目拟开展摘果动力学特性和作业质量产生机理研究，探索摘果机构综合优化设计方法。以花生主产区典型品种为对象，研究花生株系机械力学特性，建立花生株系在摘果机构中的分布模型，构建花生株系柔性体模型；建立基于有限元法的摘果机构全参数化模型和多体动力学仿真模型；创新采用高频响动态检测和可视化摘果等技术手段，构建摘果试验台；动力学仿真和台架试验相结合，研究花生株系与摘果机构的动力学特征和相互作用关系，探明作业质量与影响因素的内在联系，揭示摘果作业质量形成机理；数字优化法、仿真优化法和试验优化法相结合，建立摘果机构多目标仿真优化设计方案和摘果作业质量预测数学模型，获取摘果机构综合优化设计方案，为提高摘果质量提供解决措施。研究结论为花生切流式摘果技术提升及装备研制提供理论指导。

Tangential flow picking technology is an important component and a development direction of full-feeding peanut high efficiency harvesting technologies. Aiming at the problems of high un-picked and breakage rate of pods at the picking process, this project intends to carry out the research on dynamic characteristics of picking and mechanism of operation quality, exploration the method of picking mechanism comprehensive optimization design. Taking the typical peanut varieties in the main peanut producing areas in China as the study objects, the mechanical properties of peanut lines will be studied, and the distribution model of peanut lines in pod picking mechanism is to be established. Based on the above basic research data, flexible model of peanut plants is to be established. The full parametric model and rigid-flexible coupling multi-body system simulation model for peanut plants and the picking device will be established based on finite element method. On the basis of innovative techniques such as high frequency dynamic detection and visual pod picking, pod picking test-bed will be constructed. Combining dynamic simulation with bench test analysis, the dynamic characteristics and interaction relationship between peanut line and picking mechanism will be studied, the internal relationship between operation quality and influencing factors will be explored, and the formation mechanism of picking operation quality will be revealed. Applying kinds of research methods including digital optimization, simulation optimization and experimental optimization methods, multi-objective simulation optimization design scheme for picking mechanism and mathematical model for predicting the quality of picking operation will be established. Comprehensive optimization design scheme of picking mechanism is obtained to provide solutions for improving picking quality. The research conclusions will provide theoretical guidance for improvement of peanut tangential flow picking technology and equipment development.