Structural Design And Analysis Of Banana Picking Robot Manipulator

The first step of the banana picking process is still manually picking with many shortages such as excessive labor intensity and low picking efficiency.Significant influence to the banana industry development was caused by the cost of banana harvesting increased continuously due to the labor transfer and reduction.The best way to solve this industry problem is doing R&D works of automation and intelligent robots instead of manually collecting,and it’s also the inevitable direction of banana industrialization development.However,this is still in exploratory stage.Under the circumstances,according to the task and requirements of the subject,an automatic cylindrical coordinate banana picking robot manipulator with four freedom degrees was designed.The main contents of the full text showing as below:1.Based on the design requirements of the subject and the field research of banana plantation as well as analyze the relevant files of robot selection,the overall scheme of the picking robot was given out here.The robot manipulator adopts the RPPR cylindrical coordinate type;hydraulic drive is selected as the driving mode,and the drive element was selected;Specific structure of the mechanical arm and the end-effector was designed while the instruction of the components’ also list out,the virtual assembly of the whole machine also done based on the 3D model of the machine created by the SolidWorks.2.The kinetic equation of the robots was established by Lagrange Equation Method,and the dynamics analysis of the manipulator is carried out by using ADAMS software to solve the required maximum force(torque)of each joint for checking the hydraulic components;the maximum force of each joint in the main direction provides data basis for the following statics analysis and optimization design work.3.The main components of the banana picking robot:base,boom,arm,and wrist are properly simplified and the element analysis model is established in turn,and the static analysis of each component is performed by ANSYS Workbench software to check it’s strength and stiffness;multi-objective optimization design of the clamping mechanism is carried out,and the final structural scheme of the clamping mechanism was designed according to the simulation results.4.The designed clamping mechanism is trial-manufactured and tested based on the experimental platform.According to the strength analysis results of the clamping mechanism after optimization,the measuring points with large stress values and the key areas of the designer focused are selected,Then electrical test method is adopted to test the strain values under the clamping condition,and calculates the stress values of the corresponding test point,comparison and analyzed the strength analysis result after the optimization of the clamping mechanism,and verified the feasibility after the optimization of the re-design.