The Kinematis Simulation And Design Of Kiwi Fruit Picking Manipulator

China is the world’s largest kiwi fruit growing area. Kiwi fruit currently rely on manual picking, work time is consuming, labor is intensive and cost is increasingly. As technology advances and the development of agricultural industry, picking robots will be key technologies replacing human work and improving the agricultural output. As a key execution unit, picking robot manipulator is one of the key technologies picking robot. The role of the manipulator is to convey the actuator to the position with the guidance of machine vision. Different from various industrial robots, soft and irregularity of the environment as well as the complex features such as job object picking robot, makes picking manipulator require more specificity. Therefore, the study of kiwifruit picking manipulator production has important practical significance and scientific value.In this paper, ’Hayward’ kiwifruit natural growth state for the study, conducted kiwi fruit picking robot manipulator design and research. The main contents are as follows:(1) Study of distribution range of kiwi fruitKiwi fruit growing status and spatial distribution is theoretical basis of picking manipulator. This paper investigates the NWSUAF Meixian kiwi fruit Experiment Station, measured the kiwi fruit and kiwi fruit growing space distribution of three-dimensional space, which is a basis to determine the size of kiwi picking manipulator.(2) Articulated manipulator simulationWith scaffolding type of cultivation mode of Kiwi fruit and the spatial distribution of large fruit characteristics, design a novel articulated kiwi fruit picking manipulator, the manipulator has high altitude, long wingspan, large work space, smooth operation. Simulation results shows the reasonable parameters manipulator meets kiwi fruit cropping patterns under scaffolding automated picking. With the use of D-H parameter method make Kiwi fruit picking robot mathematical modeling using MATLAB robotics Toolbox program written statement, verify the kiwi fruit picking manipulator design parameters is reasonable. Use of joint drive window, intuitive display of robot joint angle drive renderings; robot trajectories are simulated. Robotic Toolbox can use multiple joints of the robot trajectory planning, fast and accurate. On the one hand, it can be seen, MATLAB software for robot research provides powerful analysis and simulation capabilities. More importantly, it can provide protection for the robot motion control data.(3) The Cartesian coordinate manipulator design and testAccording to the actual situation and the actuator end picking functionality with Pro / E software design a three-dimensional modeling techniques Cartesian coordinate kiwi fruit picking manipulator. Cartesian coordinate kiwi fruit picking manipulator realize three directions of the degrees of freedom in conjunction with the actuator to complete the picking task. Cartesian coordinate manipulator consists of linear motion units, drive systems, control systems, sensor systems and some peripheral devices and other components. And check the key components, selected according to the actual situation and the motor drive motor. Effectiveness picking field trials to test prototype manipulator system for stability. By calculating the mean time, the average time of 60 groups of 11.61 s, with the actuator and machine vision picking success rate of 91.7%, the experimental results show that the manipulator can accurately and effectively in accordance with the output of coordinates of the machine vision reaches the end of kiwi fruit.