New Zealand Journal of Agricultural Research abstracts
Design optimisation and simulation of structure parameters of an
eggplant picking robot
Song Jian*
Sun Xueyan
College of Machinery
Weifang University
Weifang 261061, China
Zhang Tiezhong
Zhang Bin
Xu Liming
College of Engineering
China Agricultural University
Beijing 100083, China
*Author for correspondence: sjian11@163.com
Abstract A fruit and vegetable picking robot is a piece of
optical-mechanical-electrical equipment operating in a complex
environment. Its structure and control are more difficult than with
traditional industrial robots. Parameter optimisation and design of the
robot framework and structure must be made according to the eggplant’s
growth and fruit distribution in space. The robot’s working space is
defined and simulated through Matlab software. The robot’s working
space V is 1.92 m3 and the volume index reaches 0.64. The
simulation results show that a fruit and vegetable picking robot,
jointed with 4 d.f., meets the requirements for eggplant picking in a
greenhouse. The suitability of the structure and frame is validated by
the picking experiment.
Keywords design optimisation;
eggplant; picking robot;
simulation; working space
A07114; Online publication date 31 March 2008; Received and accepted
10 August 2007
New Zealand Journal of Agricultural Research, 2007, Vol. 50:
959–964
028–8233/07/5005–0959 © The Royal Society of New Zealand 2007
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