Synthesis design of a robot manipulator for strawberry harvesting in ridge-culture

Kailiang Zhang, Tiezhong Zhang, Dan Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages114-117
Number of pages4
ISBN (Electronic)9781509013623
DOIs
Publication statusPublished - 29 Aug 2016
Externally publishedYes
Event2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016 - Tokyo, Japan
Duration: 20 Jul 201622 Jul 2016

Publication series

NameProceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016

Conference

Conference2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016
Country/TerritoryJapan
CityTokyo
Period20/07/1622/07/16

Keywords

  • parallel mechanism
  • robot manipulator
  • strawberry harvesting

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Control and Optimization

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