## 4 Discussion  
Aiming at the main problems in the harvesting process of tea stalks, including high cutting resistance, high root damage and uneven cutting surface, this study carried out parameter optimization and bionic design of the reciprocating cutter of a hand-held portable tea picker, which provides important theoretical references to optimize the performance of the tea picker and to improve the cutting type end-effector. The main conclusions are as follows.  
1. In this study, after an in-depth study of the microstructure of the upper jaw of the mouthparts of the _Aeolesthes induta_ Newman based on the principle of bionics, the contour curve of the upper jaw of the mouthparts of the _Aeolesthes induta_ Newman was extracted and optimized by using MATLAB, and the resulting curve data were applied to the cutting tooth of the reciprocating tea-harvesting cutter to design a set of new tea-harvesting cutters imitating the teeth of the _Aeolesthes induta_ [PERSON], which contain four bionic tea-harvesting cutter schemes.
2. The key structural parameters of the bionic tea-harvesting cutter were determined, and the kinematic, static and dynamic models of the bionic tea-harvesting cutter, the bionic cutting tooth and the tea stalk were established in this study. In the kinematic simulation test, the results show that since curve 1 of the bionic tea-harvesting cutter #3 makes cutting times in a single cutting cycle than the first two bionic schemes, it better highlights its reliance on the bionically optimized design of the cutting teeth edge contour structure by mimicking the incisor lobe of the _Aeolesthes induta_ [PERSON] to carry out the cutting operation. Similarly, bionic tea-harvesting cutter #4 also highlights such advantages.
3. In the static simulation test, the results show that, relative to the maximum equivalent force value, equivalent elastic strain value and total deformation of the ordinary trapezoidal tooth, the values and deformation of bionic cutting tooth 3 of the bionic tea-harvesting cutter #4 are reduced by 81.83%, 82.01% and 44.88%, respectively, which are much lower than that of the ordinary trapezoidal teeth and are also lower than that of the bionic cutting tooth 1 and bionic cutting tooth 2. In addition, compared with the maximum equivalent stress value, equivalent elastic strain value and total deformation of ordinary saw tooth, the bionic cutting tooth 3 is reduced by 29.54%, 29.23% and 6.80%, which proves that the bionic tea-harvesting cutter #4 represented by the bionic cutting tooth 3 has the best deformation resistance in the actual cutting process.
* In the explicit dynamic simulation test, the results show that compared with the maximum equivalent elastic strain value and force reaction of the ordinary trapezoidal teeth, the bionic cutting teeth 3 of the bionic tea-harvesting cutter #4 are reduced by 57.46% and 42.89%, respectively, which is lower than the ordinary trapezoidal teeth, the bionic cutting teeth 1 and the bionic cutting teeth 2. In addition, compared with the maximum equivalent elastic strain value and force reaction of ordinary saw teeth, the bionic cutting teeth 3 decreases by 36.70% and 11.25%, which proves that the bionic cutting teeth 3 of the bionic tea-harvesting cutter #4 designed by this research team has the smallest plastic deformation in the actual cutting process. Compared with the traditional tea cutting tool, the bionic tea-harvesting cutter #4 cuts the tea stalk more smoothly, and the cutting effect and quality are the best.