Structural Design And Simulation Of A High-quality Tea Parallel Plucking Robot

The characteristics of Tea-plucking process are strong seasonality, short plucking time andhigh labor intensity. At present, hand-plucking and machine-plucking are two main ways toplucking tea. The tea picked manually is of good quality but inefficiency because of the slowspeed of plucking, which always causes the fresh tea leaves picking not in time. Althoughmachine-plucking has a high efficiency, it is unable to distinguish the flushes leaves from oldleaves, which leads to the bad even degree and instability of tee quality. Machine-plucking can’tmeet the requirements of high-quality tea. So it is usually used for the bulk tea. Therefore,plucking the fresh leaves of high-quality tea causes the production bottleneck and restricts thedevelopment of tea industry.Parallel robot, which features high stiffness, high bearing capacity, high speed, highprecision and small error, is fit for the requirements of plucking high-quality tea. This paperinnovatively integrated the parallel robot technology and tea plucking technology into theintelligent plucking method of high-quality tea, and realized the rapidly and automaticallyplucking of the high-quality tea.According to the requirements of plucking the high-quality tea, a parallel mechanism andend effector were designed in this paper. GUI optimization toolbox was used to determine theinitial size of robot arms by the given workspace. The velocity Jacobi matrix and accelerationJacobi matrix of the parallel robot were calculated through calculating the Jacobi matrix ofhigh-quality tea parallel plucking robot by the vector method and derivation method. Analyzingthe mechanism singularity according to the velocity Jacobi matrix, the singularity positions of therobot were determined. The inverse kinematics was solved by using the vector module andhomogeneous coordinate transformation. Comparing the results, it verified the validity of thecalculation of homogeneous coordinate transformation. Based on the inverse kinematics solution,the robot workspace could be determined by using the method that combining analytical methodand numerical method. The3D plot of the robot workspace was obtained through the plotcommand of MATLAB, and the robot workspace was proved to satisfy the design requirements.The model built by Pro/E software was imported into ADAMS simulation analytical software toanalyze the robotic kinematics simulation. The kinematics inverse solution was accuratelycalculated by MATLAB, and the correctness of the simulation by ADAMS was testified. Theforward kinematics simulation analysis of the robot was realized on the basis of these.