Structure Design And Characteristic Analysis Of Fruit And Vegetable Picking Robot

Because fruit and vegetable picking work cost too much time and manpower, the aging problem is more and more serious and labor is decreasing, So it is necessary to study of fruit and vegetable picking robot. The six degrees of freedom of picking robot arm was designed in this paper. Aiming at the lack of universality, a flexible and universal end effector was proposed and the prototype was processed.First, Wrist, elbow, shoulder joint structure were designed; The structure of flexible and universal end effector was designed, then the statics、kinematics analysis and simulation were finished; Kinematics and inverse kinematics problem of six degrees of freedom of picking robot arm were calculated, and the simulation was finished in Robotics Toolbox; Besides, space analysis of the obstacle avoidance of fruit and vegetable picking robot arm has been completed by calculating possible collision with the obstacles of each joint Angle range, and a optimal path was planned out from the free space by using A*algorithm and the flow chart of A*algorithm has been finished. Finally, through the experiment of prototype, the design requirements of picking robot arm and flexible universal end effector were proved exactly, which laid the foundation for the next generation of prototype and further application.