Justification of the parameters of the robotic manipulator for picking fruits
DOI:
https://doi.org/10.28983/asj.y2022i10pp121-126Keywords:
manipulator, kinematic scheme, robotic device of fruit picking, degree of freedom, imitation modelAbstract
Based on the analysis of the physical and mechanical characteristics of intensive fruit trees, technical requirements for a robotic manipulator for fruit harvesting have been developed. A computer simulation of the process of removing fruits from the crown of a tree was carried out to substantiate the design parameters of a robotic manipulator. A kinematic scheme and a simulation model of a robotic manipulator in the Simulink SimScape environment (V-REP robot simulator) have been developed. Coordinate systems are linked to the joints of the degrees of mobility of the manipulator. By solving a direct positional problem, the position and orientation of the manipulator device is determined. Generalized coordinates of the center of the grip of the manipulator are established, which can vary within the limits determined by the design of the mechanism: and defining the working space of the manipulator.
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