Objective]To design a prototype of wheeled intelligent mobile platform at the basis of a 3-DOF fruit picking robot hand. [Method]According to the working environment of farmland, the steer-ing structure and anti-collision beam structure of the platform were designed. The deformation of the plat-form frame under three working conditions were simulated using ANSYS, and simulation of the motor was carried out using Simulink module based on MPTA or ID =0 . The motion control program and human computer interface were programmed with VC++. The prototype walking experiments were carried out in Jiangpu farm, Nanjing.[Result]The maximum deformation of the platform frame was 14. 1 mm under the crankle working condition,and the value of stress was under the yield limit of material. The motor based on MPTA control achieved stability after 0. 8 ms. The maximum climbing angle of the platform was 10°, and the tracking path lateral deviation was 0. 22 m at a speed of 1. 5 meter per second. [Conclusion]This mobile platform has reasonable structure, with high strength, rigidity and motion accuracy, which meets the requirements of practical use.%【目的】基于三自由度水果采摘机械臂,设计一种轮式智能移动平台。【方法】根据农田工作环境,设计了转向机构和防撞梁机构；借助ANSYS对车架在3种工况下的变形情况进行仿真分析；使用Simulink模块对车载电机进行了基于最大转矩电流比矢量控制( MPTA)以及ID=0模式下的仿真；使用VC++语言编写了运动控制程序,开发人机交互界面；在南京市江浦农场进行样机行走试验。【结果】弯扭工况下车架变形量最大为14．1 mm,应力值小于材料屈服极限；基于MPTA控制下的电机约0．8 ms达到稳定；该平台最大爬坡角度约为10°,1．5 m·s-1行进时跟踪路径的横向偏差约为0．22 m。【结论】该移动平台结构合理,强度和刚度较高,运动精度高,符合实际工作要求。
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