Mechanism Design And Kinematics Analysis On Vaccinium Uliginosum Linn Picking Manipulator

Fruit picking of Vaccinium uliginosum Linn is an important process in production. To raise labor productivity and working quality, reduce working density and realize picking mechanization, automatization and intelligentization, a Vaccinium uliginosum Linn picking manipulator was designed based on its physiological characteristics. Simultaneously, the kinematics was analyzed and simulation was performed.A manipulator consisting of 2 prismatic joints and 5 rotational joints was determined for Vaccinium uliginosum Linn picking manipulator according to some criteria of its physiological characteristics and type-synthesis regulation. Furthermore, the rational structural parameters of the manipulator were determined according to the practical production environment and working mode.Link coordinates of the manipulator were set up by Denavit-Hartenberg method, Simultaneously,forward kinematics and inverse kinematics was modeled through homogeneous transformation and Jacobian matrix was reached as well, which provided the basis for kinematics analysis and simulation.The position workspace of the end-effector was simulated by the Monto Carlo method. Simulation effect was performed by Matlab. It was showed that position workspace of the end-effector covered the growing range of fruits-completely in which the working points were distributed density and equably and can satisfy the picking requirements.The motion planning and simulation of the manipulator were carried out. The position, velocity and acceleration were simulated by Matlab. It was indicated the Vaccinium uliginosum Linn picking manipulator could move from initial position to the objective position along with the given linear trajectory with high precision and dexterity. Moreover, joint positions of the manipulator varied with planning points continuously and smoothly with mini-difference between two points.