Analysis and Experimentation on the Motion Characteristics of a Dragon Fruit Picking Robot Manipulator

Kairan Lou, Zongbin Wang, Bin Zhang, Qiu Xu, Wei Fu (), Yang Gu and Jinyi Liu
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Kairan Lou: Mechanical and Electrical Engineering College, Hainan University, Haikou 570228, China
Zongbin Wang: Mechanical and Electrical Engineering College, Hainan University, Haikou 570228, China
Bin Zhang: Mechanical and Electrical Engineering College, Hainan University, Haikou 570228, China
Qiu Xu: Mechanical and Electrical Engineering College, Hainan University, Haikou 570228, China
Wei Fu: Mechanical and Electrical Engineering College, Hainan University, Haikou 570228, China
Yang Gu: School of Information and Communication Engineering, Hainan University, Haikou 570228, China
Jinyi Liu: Mechanical and Electrical Engineering College, Hainan University, Haikou 570228, China

Agriculture, 2024, vol. 14, issue 11, 1-20

Abstract: Due to the complex growth positions of dragon fruit and the difficulty in robotic picking, this paper proposes a six degrees of freedom dragon fruit picking robot and investigates the manipulator’s motion characteristics to address the adaptive motion issues of the picking manipulator. Based on the agronomic characteristics of dragon fruit cultivation, the structural design of the robot and the dimensions of its manipulator were determined. A kinematic model of the dragon fruit picking robot based on screw theory was established, and the workspace of the manipulator was analyzed using the Monte Carlo method. Furthermore, a dynamic model of the manipulator based on the Kane equation was constructed. Performance experiments under trajectory and non-trajectory planning showed that trajectory planning significantly reduced power consumption and peak torque. Specifically, Joint 3’s power consumption decreased by 62.28%, and during the picking, placing, and resetting stages, the peak torque of Joint 4 under trajectory planning was 10.14 N·m, 12.57 N·m, and 16.85 N·m, respectively, compared to 12.31 N·m, 15.69 N·m, and 22.13 N·m under non-trajectory planning. This indicated that the manipulator operates with less impact and smoother motion under trajectory planning. Comparing the dynamic model simulation and actual testing, the maximum absolute error in the joint torques was −2.76 N·m, verifying the correctness of the dynamic equations. Through field picking experiments, it was verified that the machine’s picking success rate was 66.25%, with an average picking time of 42.4 s per dragon fruit. The manipulator operated smoothly during each picking process. In the study, the dragon fruit picking manipulator exhibited good stability, providing the theoretical foundation and technical support for intelligent dragon fruit picking.

Keywords: dragon fruit; robotic picking; manipulator; motion characteristics; 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: 2024
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