Mechanical analysis of a robotic date harvesting manipulator

Abstract

Iran is known as a date palm producer in the world. Many researches are carried out to eliminate the hazards and difficulties of working in high elevations and to facilitate the date harvesting process. In this study, A 3 prismatic joints manipulator was designed and constructed. A robotic manipulator was considered as a combination of some rigid solids which were joined to each other. For links and joints definition, the Denavit-Hartenberg’s method of notation was used and then, the manipulator’s geometric parameters were defined. The kinematic, inverse kinematic, Jacobean, velocity and force parameters for this manipulator were codified and the workspace for this manipulator was defined and discussed. A master-slave control system was selected to control the manipulator and the cutting tool. In operation phase, the static/dynamic stability of the manipulator was evaluated. The manipulator was able to pass its curve shaped way. At cutting the bunches phase, the manipulator remained stable and there was no danger in overturning of the manipulator. The date harvesting manipulator was considered as a part of a harvesting machine, as the final objective of this research, involving a telescopic elevator to take the manipulator to the operational area.