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

Yu Jie Cui; Jian Ning Hua; Pu Shi

doi:10.4028/www.scientific.net/AMM.44-47.651

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 44-47Optimal Design and Simulation on the Major Linkage...

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.

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Periodical:

Applied Mechanics and Materials (Volumes 44-47)

Pages:

651-655

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.44-47.651

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Online since:

December 2010

Authors:

Yu Jie Cui, Jian Ning Hua, Pu Shi

Keywords:

Manipulator, Optimization, Optimization Design, Working Space

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