TY - GEN
T1 - Synthesis design of a robot manipulator for strawberry harvesting in ridge-culture
AU - Zhang, Kailiang
AU - Zhang, Tiezhong
AU - Zhang, Dan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/29
Y1 - 2016/8/29
N2 - For the characteristic of compact structure, low inertia, high rigidness and accuracy, parallel mechanisms are worthwhile to be popularized in the field of agricultural robotization, especially in situations that require precise movement in limited space. Focusing on the harvesting task of strawberries in ridge culture, a 4-PPPR robot manipulator with three translational DOF and one rotational DOF is devised in this paper. A type synthesis method of GF set theory is used to design its topology structure in 3D space. Compared to traditional machine design methods, this synthesis method allow one to decide the manipulator's configuration in a 'Top-down' logic initially from the appointed features of the manipulator's moving platform. A software simulation is carried out to demonstrate this mechanism can meet all the movement requirements by driving the four active joints allocated on the fixed platform.
AB - For the characteristic of compact structure, low inertia, high rigidness and accuracy, parallel mechanisms are worthwhile to be popularized in the field of agricultural robotization, especially in situations that require precise movement in limited space. Focusing on the harvesting task of strawberries in ridge culture, a 4-PPPR robot manipulator with three translational DOF and one rotational DOF is devised in this paper. A type synthesis method of GF set theory is used to design its topology structure in 3D space. Compared to traditional machine design methods, this synthesis method allow one to decide the manipulator's configuration in a 'Top-down' logic initially from the appointed features of the manipulator's moving platform. A software simulation is carried out to demonstrate this mechanism can meet all the movement requirements by driving the four active joints allocated on the fixed platform.
KW - parallel mechanism
KW - robot manipulator
KW - strawberry harvesting
UR - http://www.scopus.com/inward/record.url?scp=84988984821&partnerID=8YFLogxK
U2 - 10.1109/ACIRS.2016.7556198
DO - 10.1109/ACIRS.2016.7556198
M3 - Conference article published in proceeding or book
AN - SCOPUS:84988984821
T3 - Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016
SP - 114
EP - 117
BT - Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016
Y2 - 20 July 2016 through 22 July 2016
ER -