NDLI: Dynamic Simulation of Litchi Fruit Flexible Manipulator in Picking Process

Content Provider	IEEE Xplore Digital Library
Author	Xu Fengying Liu Guolong Zou Xiangjun Chen Zhen Xu Ce
Copyright Year	2011
Abstract	Litchi fruit flexible mechanical picking could reduce the loss of fresh fruit, which is the development direction of intelligent mechanized harvesting in future agriculture. According to the agronomic planting of litchi, this paper analyzed its fruit picking requirements, studied the structure of the manipulator's end effector flexible picking and its dynamic transfer, built the structure model of the manipulator automatically picking. By means of simulation software ADAMS, studied the dynamic characteristics of angular displacement, angular velocity, mass center displacement etc attached to each joint component in picking process, the simulation of the joint driving torque compared with the theoretical calculation showed the error is less than 3%. Thus, it was proved that the simulation design of litchi flexible picking manipulator met the work requirements of flexible picking, and could provide the theory reference for prototype design.
Starting Page	475
Ending Page	479
File Size	930926
Page Count	5
File Format	PDF
ISBN	9781457707551
DOI	10.1109/ICDMA.2011.351
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Litchi Force Flexible picking Dynamic simulation End effectors End effector Joints Shearing Manipulator dynamics Manipulator
Content Type	Text
Resource Type	Article

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