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

Author

Listed:
  • 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
    School of Information and Communication Engineering, 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
    School of Information and Communication Engineering, 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)

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.

Suggested Citation

  • Kairan Lou & Zongbin Wang & Bin Zhang & Qiu Xu & Wei Fu & Yang Gu & Jinyi Liu, 2024. "Analysis and Experimentation on the Motion Characteristics of a Dragon Fruit Picking Robot Manipulator," Agriculture, MDPI, vol. 14(11), pages 1-20, November.
    • Handle: RePEc:gam:jagris:v:14:y:2024:i:11:p:2095-:d:1525298
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    References listed on IDEAS

    as
    1. Huimin Xu & Gaohong Yu & Chenyu Niu & Xiong Zhao & Yimiao Wang & Yijin Chen, 2023. "Design and Experiment of an Underactuated Broccoli-Picking Manipulator," Agriculture, MDPI, vol. 13(4), pages 1-18, April.
    2. Zhi He & Li Ma & Yinchu Wang & Yongzhe Wei & Xinting Ding & Kai Li & Yongjie Cui, 2022. "Double-Arm Cooperation and Implementing for Harvesting Kiwifruit," Agriculture, MDPI, vol. 12(11), pages 1-24, October.
    3. Yanghua Zhang & Aiping Xiao & Ailing Wu & Hongqiang Yue & Xiaopeng Du, 2021. "Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-18, December.
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