Study Of Series-parallel Nut Picking Manipulator

Nut，one of important wood fruit resources in our county, has large planting area.For nut production there is requirement of not only scientific planting technology butalso scientific harvest technologies. At present，two konds of picking equipment areused in our country. The manual picking device belongs to the auxiliary picking tools,as a result，people have to bent down to work，which resulting in a low efficiency. Thepicking manipulator can meet the picking needs for most of fruits.However, only onefruit can be picked each time. So the efficiency will be slowed down and the higherprecision will be required imminently. There are few studies on nut pickingtechnology and equipment in China and abroad. To sum up, it is necessary to developa suitable picking equipment for China’s nut characteristics, in order to achieve highefficiency and safety picking work.Presents a greatly improve the picking efficiency of series parallel robot, whichuses the mode of vibration picking the fruit that of the nut. An analysis on themechanical arm movement, analysis a system, that is electro-hydraulic proportionalsystemwhich.It mainly includes the following aspects:The Based on3RPS Parallel Mechanism for ARM.Design of movable arm,which can be moved in one direction, a direction that is perpendicular to the mobileplatform,in order to grasp branches. Design of the end effector which can forcefeedback,it can avoid injury to branches in grasping. The use of D-H parameters andEuler angle on3-RPS parallel mechanism kinematics is analyzed, the position inversesolution is derived. The use of Matlab on inverse solution equation calculation.Optimized design of the body part, master attitude range by calculating the positioninverse solution. Establishment of CATIA model.Design of the control system, analysis of electric liquid ratio example system. Using PID control hydraulic cylinder, analysis of PID control law, advantages anddisadvantages.