Analysis and Experimentation on the Motion Characteristics of a Dragon Fruit Picking Robot Manipulator

Due to the complex growth positions of dragon fruit and the difficulty in robotic picking, this paper proposes a six degrees of freedom dragon fruit picking robot and investigates the manipulator's motion characteristics to address the adaptive motion issues of the picking manipulator. Based on the agronomic characteristics of dragon fruit cultivation, the structural design of the robot and the dimensions of its manipulator were determined. A kinematic model of the dragon fruit picking robot based on screw theory was established, and the workspace of the manipulator was analyzed using the Monte Carlo method. Furthermore, a dynamic model of the manipulator based on the Kane equation was constructed. Performance experiments under trajectory and non-trajectory planning showed that trajectory planning significantly reduced power consumption and peak torque. Specifically, Joint 3's power consumption decreased by 62.28%, and during the picking, placing, and resetting stages, the peak torque of Joint 4 under trajectory planning was 10.14 N<middle dot>m, 12.57 N<middle dot>m, and 16.85 N<middle dot>m, respectively, compared to 12.31 N<middle dot>m, 15.69 N<middle dot>m, and 22.13 N<middle dot>m under non-trajectory planning. This indicated that the manipulator operates with less impact and smoother motion under trajectory planning. Comparing the dynamic model simulation and actual testing, the maximum absolute error in the joint torques was -2.76 N<middle dot>m, verifying the correctness of the dynamic equations. Through field picking experiments, it was verified that the machine's picking success rate was 66.25%, with an average picking time of 42.4 s per dragon fruit. The manipulator operated smoothly during each picking process. In the study, the dragon fruit picking manipulator exhibited good stability, providing the theoretical foundation and technical support for intelligent dragon fruit picking.