Kinematics analysis and experiment of a lily picking mechanical arm

Abstract

A lily flower is a medicinal plant, which has been widely used in the Chinese medicine industry in recent years. According to the rapid picking of the lily flower, a scheme of the mechanical arm picking structure was designed, and the system with an end effector, manipulator and control system was used. The mechanical arm adopts a three‐stage connecting rod structure. Through the lily plant growth of more than about 85% <50 cm characteristics of the mechanical arm were picked up from the top to bottom operation strategy. Based on this, the kinematics model of the picking robotic manipulator is designed. The kinematic equation of the manipulator is demonstrated by a DH deducing method. The kinematics simulation of the manipulator is carried out by MATLAB. The mechanical arm kinematics and picking experiments were carried out in the experimental field in a natural environment by the robotic physical machine platform. The results showed that the manipulator position error from the end of the arm was <12 mm and the picking success rate was 83.33%.