Optimization design and kinematic analysis of cucumber-harvesting-robot manipulator

被引：0
|
作者：
Feng Q. [1 ]
Ji C. [1 ]
Zhang J. [1 ]
Li W. [1 ]
机构：
[1] College of Engineering, China Agricultural University
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery | 2010年 / 41卷 / SUPPL. 1期
关键词：
Cucumber; Harvesting robot; Kinematic analysis; Parameter optimization; Robot manipulator;
D O I：
10.3969/j.issn.1000-1298.2010.Supp.053
中图分类号：
学科分类号：
摘要：
As the cucumber harvesting robot works in the non-structure condition, the structure and movement of the manipulator directly determines operating space and picking success. According to the specific cucumber cultivation, the manipulator was designed and its structure parameters were optimized based on the method of the parameters optimization. With the DH kinematic model, the coordinate transformation was achieved between the Articulation and the Cartesian space, and the Jacobian matrix of velocity was derived. Besides, the model was built in the Articulation space for planning path by means of cubic polynomial interpolation. All the parameters optimized was simulated with Matlab, and the simulation results showed that the harvesting manipulator could reach the positions of 90.5% of the cucumbers in the workspace, moreover, it could move smoothly.
引用
收藏
页码：244 / 248
页数：4
相关论文
共 10 条
  • [1] Van Henten E.J., Hemming J., An autonomous robot for harvesting cucumbers in greenhouses, Autonomous Robots, 13, 3, pp. 241-258, (2002)
  • [2] Lu H., Design and test of collecting robot of conifer cone, Transactions of the Chinese Society for Agricultural Machinery, 32, 6, pp. 52-54, (2001)
  • [3] Kondo N., Fruit harvesting robot in Japan, Advanced Space Research, 18, 1-2, pp. 181-184, (1996)
  • [4] Pons J.L., Ceres R., Jimenez A., Mechanical design of a fruit picking manipulator: improvement of dynamic behavior, IEEE Int. Conf. on Robotics and Automation, 1, pp. 969-974, (1996)
  • [5] Yoshikawa T., Manipulability of robotic mechanisms, The International Journal of Robotics Research, 4, 2, pp. 3-9, (1985)
  • [6] Sun X., Optimal design of the major linkage parameters of articulated robot, Journal of Beijing University of Aeronautics and Astronautics, 22, 4, pp. 509-512, (1996)
  • [7] (2007)
  • [8] Liang X., Wang Y., Miao X., Optimal design of mechanism dimension for a tomato harvesting manipulator, Machine Design & Research, 24, 1, pp. 21-24, (2008)
  • [9] Craig J.J., (2006)
  • [10] Ni S., Wen J., Yan J., The establishment of the Jacobian for the 4-DOF redunctant robot, Chinese Journal of Scientific Instament, 22, 4, pp. 381-383, (2001)
1