Abstract
The aim of our research is the construction of a robot arm with non conventional architecture for applications in non-industrial environments. In this work we develop a machine for agricultural applications, such as fruit picking. The arm must be hollow and enable the fruit to be conveyed through it, thus saving cycle time. In this paper we analyze an original kinematical configuration particularly suited to this purpose, and develop a preliminary design. At last we present the final design and discuss architectural and constructional details.
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