Design and Performance Test of a Jujube Pruning Manipulator

Bin Zhang, Xuegeng Chen, Huiming Zhang, Congju Shen and Wei Fu
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Bin Zhang: School of Information and Communication Engineering, Hainan University, Haikou 570228, China
Xuegeng Chen: College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Huiming Zhang: Mechanical and Electrical Engineering College, Hainan University, Haikou 570228, China
Congju Shen: College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Wei Fu: School of Information and Communication Engineering, Hainan University, Haikou 570228, China

Agriculture, 2022, vol. 12, issue 4, 1-21

Abstract: To solve the problems of poor working conditions and high labor intensity for artificially pruning jujube trees, a pruning scheme using a manipulator is put forward in the present paper. A pruning manipulator with five degrees of freedom for jujube trees is designed. The key components of the manipulator are designed and the dimension parameters of each joint component are determined. The homogeneous transformation of the DH parameter method is used to solve the kinematic equation of the jujube pruning manipulator, and the kinematic theoretical model of the manipulator is established. Finally, the relative position and attitude relationship among the coordinate systems is obtained. A three-dimensional mathematical simulation model of the jujube pruning manipulator is established, based on MATLAB Robotics Toolbox. The Monte Carlo method is used to carry out the manipulator workspace simulation, and the results of the simulation analysis show that the working space of the manipulator is −600~800 mm, −800~800 mm, and −200~1800 mm in the X, Y, and Z direction, respectively. It can be concluded that the geometric size of the jujube pruning manipulator meets the needs of jujube pruning in a dwarf and densely planted jujube garden. Then, based on the high-speed camera technology, the performance test of the manipulator is carried out. The results show that the positioning error of the manipulator at different pruning points of jujube trees is less than 10 mm, and the pruning success rate of a single jujube tree is higher than 85.16%. This study provides a theoretical basis and technical support for the intelligent pruning of jujube trees in an orchard.

Keywords: jujube pruning; manipulator; kinematic analysis; high-speed photography technology; performance test (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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