TY - GEN
T1 - Design and analysis of a 4-PPPR parallel manipulator for strawberry harvesting in the ridge cultivation model
AU - Zhang, Kailiang
AU - Xu, Liming
AU - Zhang, Dan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/14
Y1 - 2016/12/14
N2 - Strawberries possess impressive nutritional and medicinal value, and the demand for them has been kept on increasing on the global market. For their harvest consumes a large portion of the whole production costs and causes health problems to the labors, researching and developing strawberry harvesting robots is becoming an emergency of meeting the economy requirement in the world. In consideration of the parallel mechanisms' advantages and the lack of their utilization in the field of strawberry harvest, this paper proposed a 4-PPPR manipulator to pick strawberries in the ridge culture. Based on the GF set theory, this manipulator was proved to have three translational motion DOF and one rotation DOF, which make it competent to conduct harvest task in the ridge cultivation model. Furthermore, analyses for inverse kinematics and velocity equation were also carried out in order to support further studies, such as controlling and optimizing of this manipulator.
AB - Strawberries possess impressive nutritional and medicinal value, and the demand for them has been kept on increasing on the global market. For their harvest consumes a large portion of the whole production costs and causes health problems to the labors, researching and developing strawberry harvesting robots is becoming an emergency of meeting the economy requirement in the world. In consideration of the parallel mechanisms' advantages and the lack of their utilization in the field of strawberry harvest, this paper proposed a 4-PPPR manipulator to pick strawberries in the ridge culture. Based on the GF set theory, this manipulator was proved to have three translational motion DOF and one rotation DOF, which make it competent to conduct harvest task in the ridge cultivation model. Furthermore, analyses for inverse kinematics and velocity equation were also carried out in order to support further studies, such as controlling and optimizing of this manipulator.
KW - Automatic harvest
KW - Closeloop mechanism
KW - Parallel manipulator
KW - Picking robot
KW - Strawberry
UR - https://www.scopus.com/pages/publications/85010789969
U2 - 10.1109/CCSSE.2016.7784391
DO - 10.1109/CCSSE.2016.7784391
M3 - Conference article published in proceeding or book
AN - SCOPUS:85010789969
T3 - Proceedings of 2016 2nd International Conference on Control Science and Systems Engineering, ICCSSE 2016
SP - 248
EP - 251
BT - Proceedings of 2016 2nd International Conference on Control Science and Systems Engineering, ICCSSE 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Control Science and Systems Engineering, ICCSSE 2016
Y2 - 27 July 2016 through 29 July 2016
ER -