Optimal Design and Simulation on the Major Linkage Parameters of a Harvesting Manipulator

Abstract:

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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 et al., "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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Price:

$35.00

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