Structural Design and Parameter Optimization for Tomato Picking Robot Arm

Agricultural picking robot is a kind of advanced robot in non-structural environment,whose fruit picking process can be easily influenced by the harsh environment.The characteristics of the robot arm determine the robot working space directly.Based on the characteristics of tomato and its plant's distribution space,a robot arm with 4 degree-of-freedoms specified one parallel linkage is designed.Besides,optimization design on structure parameter of robot arm is provided.The kinematics of robot arm is established,and the robot working space is simulated through the Matlab software.Simulation results show that in the premise of meeting the expectation for picking tomatoes,we achieved the goal of minimizing invalid robot arm working space.The rationality of the structural design for robot arm is validated.