Dynamic Modeling and Analysis of a Fruit and Vegetable Picking Robot

Abstract

According to characteristics of the fruit and vegetable picking operations, an articulated picking robot with four degree-of-freedom is developed. And in order to perform an expected motion of picking work, the kinematic and dynamic models have to be constructed firstly. Kinematics is established based on Denavit-Hartenberg notation. Then, the explicit expressions of dynamic models are presented through Lagrange equation. Finally, trajectory planning from one point to another point is carried out with cycloidal motion, and the angular displacement, velocity, acceleration and torque curves of each joint are analyzed. Simulation results show that the torque curves are quite smooth and with no abrupt changes, which indicates that the motions of each joint won’t result vibrations and can ensure stability of the robot system.