Analysis and Optimized Design of Rigid–Flexible Coupling Characteristics of Crab Apple Picking Machines and Crab Apple Trees

In recent years, with the gradual expansion of the planting area for Chinese crab apple trees, the traditional method of picking crab apples has become inadequate due to its large workload, low efficiency, and high cost. To address this issue, this paper presents the design of a trunk-type vibration picker specifically for crab apple picking. The design process began with a modal analysis and a harmonic response analysis of a crab apple tree using Ansys Workbench. Through these analyses, the optimal excitation frequency for the crab apple tree was determined to be 12.7 Hz. Subsequently, the picker was designed, and its key components underwent modal and stress analyses. A comparison revealed no resonance between the picker and the key components, ensuring the feasibility of the picker. To further evaluate the performance of the picker, a rigid–flexible coupling analysis was conducted using Adams. This analysis determined the acceleration response curves of the lateral branch points of the crab apple tree at various excitation frequencies: 9.7 Hz, 12.7 Hz, 15.7 Hz, and 18.7 Hz. Finally, field trials were carried out to validate the reliability of the data obtained from Adams. The results showed that the lateral branch point acceleration increased with higher excitation frequencies. However, when the optimal excitation frequency of 12.7 Hz was reached, the lateral branch point acceleration decreased. This indicated that the most effective vibration frequency for picking crab apples was 12.7 Hz.