Kinematics simulation of an aided fruit-harvesting manipulator based on ADAMS

Abstract

As a main type of agricultural robot, fruit harvesting robot has a great potential in agriculture production. In this context, a formulation of the manipulator based on Danevit - Hartenberg is educed for the kinematics equation, and the virtual model of manipulator is developed. The kinematics is studied and inverse kinematics is obtained based on algebraic method. The kinematics simulation of the manipulator based on ADAMS is presented. And the kinematics simulation produced the processing motion course and relevant kinematics curves. The results indicate that the manipulator could implement the process according to the expected trajectory successfully.