2.4.2. Building a Motion Simulation Model in Adams

The 3D model of the potato picking mechanism was simplified as shown in Figure 14. A simulation run was carried out using Adams software to make sure that the settings were correct, then the model building in Adams was ended and subsequent tests were carried out while keeping the machine stable.

2.4.3. ADAMS-EDEM Coupled Analysis Test

A joint ADAMS and EDEM simulation model was established to analyse the potato trajectory and to verify the rationality of the spring-finger potato picker. A forward speed of 0.4 m/s and a spring-finger speed of 25 r/min were chosen. The EDEM software postprocessing module can record the movement of the potatoes in real time while simulating

the picking process of the picking model. As shown in Figure 15, at 0.600021 s, the springfinger comes into contact with the potatoes, at 1.30003 s, the potatoes are lifted to the uniformly rising stage, and at 2.00003 s, the potatoes enter the pushing and unloading stage. Then, at 2.40002 s, the potatoes are separated from the spring-finger and continue to move in the opposite direction until fall into the potato collection box, completing the potato picking process. The potatoes are picked up from the surface and lifted to the highest point reached during the process. The trajectory of the potatoes is related to the forward speed of the picker and the speed of the spring-finger.

**Figure 15.** Potato trajectory diagram. (**a**) T = 0.600021 s. (**b**) T = 1.30003 s. (**c**) T = 2.00003 s. (**d**) T = 2.40002 s.
