*2.4. Simulation Parameters*

Solidworks software was used to draw jujube branch particles and the simplified model of the jujube branch picking mechanism. A full-scale three-dimensional model was imported into the Rocky software, of which the computational domain size was 1.8 m (length) × 1.3 m (width) × 1.1 m (height). Firstly, the left side of the model was defined as the entrance of the jujube branch, the translation speed of conveyor belt was set to 0.42 m/s, and the rotation speed and direction of upper and lower gears were given. Secondly, according to the physical parameters of jujube particles, gears, and conveyor belt, the interaction force between particles and gear mechanism, as well as between particles and conveying device, were set. Then, the jujube particle model was input, and the total number of imported particles was determined. Finally, the total calculation time and time step were defined as 20 s and 0.05 s, respectively. Table 2 shows the initial boundary conditions and mechanical parameters of the picking mechanism and jujube branch particles required for the simulation. The design parameters of the prototype machine were taken as reference, and the simulation and experimental data of Ning Xinjie and Almeida E et al. were used to define the physical parameters of jujube branches.

**Table 2.** Material parameters used in simulation.

