Abstract:Aiming to address the problems of low threshing completeness, high grain damage, and high power consumption caused by the small grain size and complex panicle structure of foxtail millet, a low-damage threshing method based on the rubbing and kneading mechanism of keratinized papillae in the camel oral cavity was proposed. A bionic threshing element with a multi-papilla array was designed, and a longitudinal axial-flow foxtail millet threshing test device was developed. Based on Hertzian contact theory a collision contact mechanics model between foxtail millet panicles and the bionic threshing element was established, and a flexible foxtail millet panicle model based on the discrete element method was constructed. Mechanical calibration and validation were carried out, and comparative simulations of the threshing processes with different tooth types were conducted. Jingu 21, Zhangza 16, and Tonggu 58 were used as test materials to investigate the effects of threshing element type, cylinder rotational speed, and threshing clearance on threshing completeness rate, grain breakage rate, grain loss rate, and power consumption per panicle, so as to determine the optimal tooth type and parameter combination. The results showed that the threshing element type had a significant effect on threshing performance, cylinder rotational speed mainly affected grain breakage rate and power consumption per panicle, and threshing clearance had significant effects on all-response variables. The interaction between cylinder rotational speed and threshing clearance had a significant effect on grain breakage rate. The optimal tooth type was determined to be the bionic tooth type. When the cylinder rotational speed was 701.512 r/min and the threshing clearance was 6.081 mm, the threshing completeness rate, grain breakage rate, grain loss rate, and power consumption per panicle were 96.397%, 0.767%, 1.629%, and 69.649 W, respectively. The relative errors of threshing completeness rate, grain breakage rate, and grain loss rate for different varieties did not exceed 1.58%, 7.82%, and 2.82%, respectively, and the relative error of power consumption per panicle did not exceed 10.67%. The model showed good prediction accuracy for threshing quality indicators. The research result can provide a reference for the design of low-damage foxtail millet threshing devices and the optimization of threshing parameters for different varieties.