| As the world’s population growing, the annual production of crops increasingly. Incontrast, rural labor population continue the downward trend. Therefore, how to improve theefficiency of crop harvest has become a hot research direction in the field of modernagricultural machinery.So far, a breakthrough progress has been made in the field of agricultural harvestthrough adopting agricultural mechanization operation in our country, but there still havemany key problems. Such as fruit picking manipulator has unicity, due to the differenceobvious shape size of fruits and vegetable, modern agriculture picking manipulators are lackof adaptability. Therefore, Pick rate will be reduced easily in the process of picking fruit. So,how to improve the adaptability of picking manipulator is also a difficulty that we need tobreak through.Based on the above problem, the mainly research contents was divided three parts. Thefirst, a kind of underactuated end picking manipulator be designed. The tendon rope as atransmission mechanism was adopted to realize the underactuated finger. It was controlledby a servo motor, and to drive the fingers bend at the same time, the grasping force wasequal distribution. One motor was adopt to replace the four motor driving in foreign. Theproduction cost and quality was reduced.The second is study the fruit biological characteristics and mechanical characteristics.Determine the structure and size parameters of the manipulator, then finish the kinematic anddynamic modeling based on the three-dimensional model. Then, solve the kinematicsequations and work space by Matlab.Finally, do the kinematics and dynamics simulation through Adams, find out therelationship between each joint position, velocity, acceleration and torque parameters byanalyzing the simulation results. Verify the rationality of the manipulator. Through analysisthe simulation of kinematics and dynamics. Lay the foundation for the study of the Endexecutor information acquisition and control system. |
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