Design And Analysis Of A Novel Hybrid Picking Manipulator

With the increasing planting area and output of fruits and vegetables in China,and the reduction of rural labor force,robots picking fruit and vegetable will play an important role.It is of great significance to study the picking robot with good versatility and flexibility.This paper summarizes the research status and existing problems of picking robots for various fruit and vegetable at home and abroad.By analyzing the characteristics and cultivation methods of different fruits and vegetables,the paper proposes a novel hybrid harvesting manipulator.According to the parameters of the design variables and multi-point position method,the simulated workspace is drawn by the CAD technology.By establishing the mathematical model of dimension optimization,and then importing MATLAB programming,the solution of structural dimension optimization is obtained.Detailed structural analysis is made on joint design of each part of the hybrid manipulator.The driving mode and the transmission mode of the manipulator are compared,analyzed,selected,and the overall structure design scheme is obtained.On the basis of mechanical structure design,kinematics and dynamics of each part of the hybrid manipulator are analyzed.Then kinematics and dynamics are simulated by ADAMS software.The correctness of kinematics and dynamics equation and the rationality and correctness of the selection of driving and transmission parts are verifled,which provides data basis for strength checking of components.Based on the analysis of workspace,kinematics and dynamics of the hybrid picking manipulator,the size optimization model is optimized by genetic algorithm,and then the strength of key parts of the manipulator is analyzed by finite element analysis software,finally the prototype is completed.