Paper Title:
Optimal Design and Simulation on the Major Linkage Parameters of a Harvesting Manipulator
  Abstract

A general optimization methodology for the optimal design of robotic manipulators is presented and illustrated by its application to a harvesting manipulator. The optimization design of the manipulator framework and structure is made according to the tomato' s growth circumstance and distribution space.The workspace of the manipulator is carried out and simulated through the Monte Carlo method. Simulation results show that the manipulator with 4 degree- of- freedoms meets the expectations for picking tomato in greenhouse. The rationality of the structure and frame is validated.

  Info
Periodical
Edited by
Ran Chen
Pages
651-655
DOI
10.4028/www.scientific.net/AMM.44-47.651
Citation
Y. J. Cui, J. N. Hua, P. Shi, "Optimal Design and Simulation on the Major Linkage Parameters of a Harvesting Manipulator", Applied Mechanics and Materials, Vols. 44-47, pp. 651-655, 2011
Online since
December 2010
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