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Design of the Manipalator for Picking Coconut and Simulation of its Work Space

Yang Yong;Zeng Xiangkun;College of Mechanical Engineering,Guangdong Polytechnic Normal University;  
Aimed at problems such as labor-intensive,operating hazards,low efficiency which appear on currently two methods used commonly in coconut picking-manpower climbing picking and picking machine tool cutting picking,designed a robot arm to crawl picking.The pedestal of robot arm is fixed on the coconut picker,by rotating functional components to achieve picking hands' s swing,relying on pneumatic lift and arm grasping picking functional components to achieve lift and pitch,using the robot arm's outer hand claw to catch the base of fruit,and using the internal hand to catch the coconut for rotating picking.The article firstly describes the picking robot hand's overall structure designing and working principle,then its key structures are established into a model,finally conducts a simulation analysis to its work space.Simulation results show that coconut picking manipulator operating point designed by the paper is densely distributed symmetrically,and meets the needs of working conditions,and provides theoretical support for the further actual picking experiments.
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