DESIGN AND EXPERIMENT OF A SAFFLOWER PICKING ROBOT BASED ON A PARALLEL MANIPULATOR

ABSTRACT To mitigate the large demand for safflower picking labour and the low efficiency of manual picking, a safflower picking robot that is based on a parallel manipulator is designed. The whole robot mainly consists of a walking device, parallel manipulator device, vision device, picking device, filament collection device, control system, and motor drive system. The forward and inverse kinematics analysis of the parallel manipulator is analysed via a geometric method, the kinematics model is established, and the computational analysis of the parallel manipulator working speed is based on t...

Texto completo