2008•Journal of Agricultural Mechanization ResearchRequires access

Study on the Kinematics Simulation of Fruit Picking Manipulator Based on ADAMS

Yingchun Jiang

Abstract

Manipulator as the important part of the robot has certain research value. Based on the idea of man-machine cooperation ,The structure and correlation parameter of the picking manipulator are designed in this paper. Through detailed analysis,algebra method is used for solving inverse kinematics of the manipulator and kinematics equations are obtained,whereupon mathematic formulas are provided for manipulator control. The effectiveness of kinematics equation is confirmed in ADAMS.

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Key concepts: Kinematics, Inverse kinematics, Kinematics equations, Manipulator (device), Parallel manipulator, Control theory (sociology), Robot manipulator, Forward kinematics