Structure Design and Multi-Domain Modeling for a Picking Banana Manipulator
Based on agronomic and harvest characteristic analysis for bananas, according to bionic principle, a mechanism of picking banana manipulator simulating action of a person manually picking bananas was proposed, which was consisted of rotary mechanism, lifting mechanism, and shift mechanism, the body mechanical model of the picking banana manipulator was established. The multi-domain uniform model of a picking banana manipulator was developed employing the virtual simulation and modeling language Modelica. A body structure model for picking banana manipulator was established based on component models in DriveLib model library. Motion control’s mathematic models for picking banana manipulator were analyzed according to drive motor performance for the body structure, the simulation model of a mechanical motion control for the picking banana manipulator were realized in Dymola simulation platform. The validity models could provide a theoretical basis for picking banana manipulator primary design.
Zhengyi Jiang and Chunliang Zhang
H. J. Wang et al., "Structure Design and Multi-Domain Modeling for a Picking Banana Manipulator", Advanced Materials Research, Vols. 97-101, pp. 3560-3564, 2010