Natural rubber is a vital strategic industrial raw material for the transportation, chemical, and military sectors. Currently, natural rubber production in China relies heavily on manual tapping, which is characterized by high labor intensity, low efficiency, labor shortages, inconsistent tapping quality, and irregular energy consumption. Although extensive research has been conducted on automated tapping equipment, existing experiments lack adequate multi-parameter coordination, feature incomplete evaluation frameworks, and follow non-standard procedures, resulting in poor comparability and repeatability of results. It is therefore essential to develop a standardized experimental system for stationary rubber tapping machines to address these gaps and provide a reliable platform for parameter calibration and performance optimization.

A multi-parameter standardized experimental system for stationary rubber tapping machines was constructed, comprising a mechanical execution module, a core control module, a sensor perception module, and a host computer interaction module. The mechanical execution module employed a three-directional decomposed trajectory generation method to achieve precise control of cutting depth, cutter helix angle, and cutting time. The core control module, built around an STM32 microcontroller, achieved closed-loop control of the spiral trajectory and cutting depth through pulse-width modulation (PWM) or stepping pulse output and encoder feedback. The sensor perception module integrated voltage, current, displacement, and torque sensors to synchronously collect energy consumption and motion data. A comprehensive evaluation index system encompassing four dimensions (dynamic and energy consumption characteristics, tapping quality, latex production efficiency, and operational stability) with 15 indicators was established to quantify equipment performance. A controlled variable method was adopted, with cutting depth, helix angle, and cutting time as the core variables; each group of experiments was repeated three times in random order to eliminate systematic errors. Before formal experimentation, sample screening, equipment debugging, and environmental parameter control were carried out. During data collection, strict protocols governed the acquisition of dynamic energy consumption, tapping quality, and latex production efficiency data. Sensor recalibration (for voltage and current sensors, digital calipers, and electronic balances) and data consistency verification (using the coefficient of variation with a threshold of ≤5%) were performed to ensure the reliability and validity of the experimental data.

Indoor and field tests verified system performance. The results showed that the system operated stably with continuous three-motor linkage and no jitter. The cutting depth error was controlled within ±0.5 mm, and the tapping line was smooth with uniform depth, free of tool skipping or cutting blockage. After the operation, latex flowed evenly on both sides of the tapping cut, satisfying the normal tapping requirements of rubber trees. Energy consumption and torque curves were consistent with indoor test trends, with no abnormal peaks. The coefficient of variation of key indicators, including average power, cutting depth, and latex yield, met the ≤ 5% requirement in repeated experiments, confirming good data consistency and high system reliability.

The multi-parameter standardized experimental system designed for stationary rubber tapping machines enables precise regulation of key operational parameters and establishes a comprehensive, scientifically grounded performance evaluation index system. The system exhibits high control accuracy and stable data collection, effectively supporting parameter calibration and performance optimization of stationary rubber tapping machines. It addresses the lack of a multi-parameter collaborative experimental system for tapping machines and provides a reference for the design of experimental systems for similar agricultural automation equipment, thereby advancing the mechanized tapping of natural rubber.