Research On The Fruit-vegetable Picking Robot End Executor And Mechanical Arm

The purpose of this paper is to design a wide applicability end executor for the surfaceof fruits and vegetables, and select a corresponding manipulator for the end executor. Afterstudying the principle and operating features about all kinds of picking robot at home andabroad, summarizing the end executor key techniques and existing problems, come up witha new kind on the principle of the underactuated picking manipulator structure.At first, this article analyses and summarizes the end executor of the operation objectsand operation environment, provides theory basis for the end actuator configurationscheme selection and structure parameter design. Then, the article on the end executor’sparameters design phase, selection and design of its key parts. Finally, in order to achievehigher picking efficiency, this article also surveys and designs the picking robot wrist andstructure.In theory analysis, from the above results preliminarily determines the structuralparameters of the manipulator, and carries on the analysis and establish the kinematics anddynamics model. In kinematics analysis, using the D-H method to establish the kinematicsmodel of the robot, and has carried on the kinematics simulation in MATLAB andADAMS, the mechanical arm is obtained the position of each joint in the movementprocess parameters and the parameters such as velocity and acceleration. In dynamicanalysis, the movement of Lagrange method to establish the dynamics model of the robot,and dynamic simulation are carried out using ADAMS, the manipulator torque of eachjoint is obtained and its parameters such as angle, velocity and acceleration.Based on the main research contents of this paper can further improve the pickingrobot manipulator and the end executor of kinematics and dynamics analysis, informationcollection system for picking robots and provide basis for control system.