Structure Design and Modeling for a Picking Bananas Manipulator

Based on agronomic analysis and harvest characteristics for bananas, the structural solution simulating action of a person manually picking bananas was proposed according to structural design and bionic principle, which was consisted of rotary mechanism, lifting mechanism, and shift mechanism, the body mechanical model of the picking bananas manipulator was established, the function, structure and dimension relationship of every mechanism were detailed analyzed. Assemble model of the picking bananas manipulator was developed employing Solidworks software, work space for the mechanism was analyzed. The validity mechanism solution having been verified could provide a theoretical basis for picking manipulator primary design.