Analysis on the Workspace of the Picking Manipulator for Round Fruits

Yinggang Shi

Abstract


In order to create a picking manipulator adaptable to various round and round-like fruits with low risk of mechanical injury, a five-fingered picking manipulator was designed in this study based on the human hand and degree of freedom distribution. The D-H method was adopted to establish the coordinate systems for single fingers and the entire hand, the Monte Carlo method was adopted to analyze the workspace of single fingers and the pose matrix of the entire picking manipulator, and the numerical method was applied to solve the workspace. Solid Works software was then used to simulate grabbing motions on round-like fruits.


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