Design And Simulation Of Robot Manipulator For Plucking Tea

Robot has been widely used and evaluated in industry,agriculture and other fields.It starts replacing the human labor in many situations especially fields that are dangerous,hazardous and tedious with repeated action.These reasons lead to rapid development in robot design and control technology.This study is about the application of robot technology to pick tea in harvesting task.Design of robot manipulator for tea leaves picking,end effector and tea sprouts recognition system are developed and studied.This dissertation's main work is as follows:First,the basic ideas of using a robot in picking tea task based on the analysis and application status of robots in the agricultural field was introduced.Second,the threshold value method was used for tea image processing,color segmentation and filtering noise.The related algorithm was developed based on the tea images analysis of the tea sprouts.The spectral analysis technique was used to recognize the tea sprouts.Visual recognition system for realizing the tea sprouts was developed.Third,the properties of tea tree,parameters and specifications of tea leaves were analyzed.A robot of five degree of freedom was designed.Forward kinematics equations and the inverse kinematics equations of five degrees of freedom robot manipulator were established.MATLAB was used for simulation of spatial position of the end effector.Fourth,the robot manipulator end effector Jacobian was established.The velocity,inverse velocity kinematic equations and acceleration kinematics equations were established.The manipulability was established and the workspace of the manipulator's end effector was determined using Monte Carlo method.Smooth Joint space trajectory planning for the end effector was established.A more detailed velocity chart and acceleration graphs were illustrated between two points in space.The end effector structure was designed and configured according to the tea sprouts sucking requirements.Finally,Matlab and CATIA three dimension model analysis software were used to simulate the trajectory motion and dynamic modeling of the five degrees of freedom robot manipulator.The Potential Energy and Kinetic Energy of the manipulator are calculated to verify the calculation of the manipulator's joints moment force and trajectory path.The aim of study is using the robot technology for tea harvesting task.Putting the preliminary step for tea leaves automatic plucking.This study may leads the modern agriculture towards efficiency,accurate direction to development,important practical significance and promotes agricultural application values.