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