A kinematic analysis and simulation based on ADAMS for eggplant picking robot

Eggplant picking robot is a type of complex optical-mechanical-electrical equipment in greenhouse environment. Its structure and control are more exigent than traditional industrial robot. Optimization design method was utilized for the design of the eggplant picking robot body structure parameters in accordance with the eggplant growth and distribution space. In order to determine the spatial position relationship between the eggplant picking robot components and the end effector, the theoretical model of robot was established by virtue of Denavit-Hartenberg approach and the positive solution of the kinematic equation is obtained. Premultiplication decoupling of A-1i and matrix 0T4 were adopted to solve inverse kinematic solution with the help of Matlab software. Pro/E software was used to establish 3-D simulation model, and ADAMS (Automatic Dynamic Analysis of Mechanical Systems) simulation software was imported for the kinematics simulation analysis. It was indicated by the simulation results that the kinematic model established by DH approach reflects the real motion conditions of the robot, and both the positive and inverse kinematic solutions are correct. Structure of four degrees freedom eggplant picking robot was reasonable, it could meet the requirements of eggplant picking in the greenhouse cultivation pattern.