Structure Design And Analysis On Manipulator Of Agricultural Harvesting Robot

With the mechanization and intellectualization of agricultural production and the acceleration of aging, growing shortage of rural labor in China will make more and more new farm machinery and equipment into the field of agricultural production, and harvesting robot has been a research focus in this field.Based on the research status of domestic and foreign harvesting robot, this paper presents a manipulator of harvesting robot, this manipulator has seven degrees of freedom, it suitable for not only crops near the surface but also fruit harvesting. this paper completed mechanism design and mechanical structure design of the main part.This paper analyzed manipulator kinematics and dynamics, established the kinematics model of manipulator after the DH parameters determined. According to kinematic parameters of joints, the position and attitude of end-effector is solved. Utilizing the solved kinematic parameters and mass/inertia parameters, constrained forces and required driving force in joints are solved.According to these conclusions, we can further improve the mechanical design, kinematics and dynamics analysis, which can be used in the development of control system and control procedures of the manipulator.