*3.3. Influence of the Total Number of Jujube Branches on Picking Rate*

When the feeding number was 16, 23, or 30, the influence of the total feeding number on the picking rate was analyzed. Figure 7 shows the relationship between the numbers of jujube branches collected at the exit of the picking mechanism over time. The figure shows that the jujube branch collection process was irregular because the collision among jujube branches and between jujube branches and the wall affect the movement of the jujube branches. In the process of t = (0,10 s), the number of jujube branches collected was smaller, and with time, the number of jujube branches increases. Figure 7a shows the process of t = (14 s, 20 s): the collection number and time were relatively uniform, indicating that the collection effect was better. The numerical calculation result of the picking rate under this working condition was 75%. Figure 7b shows that during the t = (13 s, 20 s) process, the distribution of the number of collections was not uniform, as shown in Figure 7a, indicating that the jujube branches interfere with each other during the collection process. The numerical calculation result of the picking rate under this working condition was 56.6%. In Figure 7c, the feeding number of jujube branches was the most, and the interaction among jujube branches was the most intense. When t = 9 s, this influence begins to take effect in the collection process.

**Figure 7.** Relationship between the numbers of jujube branches collected over time. (**a**) Feed 16 jujube branches. (**b**) Feed 23 jujube branches. (**c**) Feed 30 jujube branches.

Figure 8 shows the effect of the total feeding number on the movement of jujube branches. From Figure 8a, it can be found that the three adjacent jujube branches at the entrance were relatively far apart, which reduces the entanglement and collision of the jujube branches in the tooth setting area. With the increase in the number of particles, the distance among the three adjacent jujube branches at the entrance became smaller, and the collision and entanglement of the jujube branches in the area of the teeth increased, as shown in Figure 8b. When the number of jujube branches increased to 30, the jujube branches overlapped and were arranged in a staggered manner (Figure 8c), and collision and entanglement may occur during the movement.

(**c**) 16 jujube branches

**Figure 8.** Effect of the total number of jujube branches fed on the movement position of jujube branches.

As the total feeding number increases, both the value and the test results show a trend of first declining and then rising, as shown in Figure 9. The increase in jujube branches leads to more serious interference between jujube branches, and the probability of entanglement collision and jujube branch escape increases. When the number reaches a certain level, the entanglement and collision of jujube branches will increase the picking rate of jujube branches.

**Figure 9.** Relationship between the total number of jujube branches and the picking rate.

The total feeding number of jujube branches does not affect the quality and geometric properties of a single particle, nor does it affect the distance di from the weight function node xi to the field point x and the support domain radius ri. According to the field function equation, the total number of feeds affects the contact force Fcontact between particles, and influences the collisions between different particles, as well as between particles and walls. Compared to the size of jujube branches, the total feeding number affects the picking rate of jujube branches less.
