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Dual-Manipulator Optimal Design for Apple Robotic Harvesting

文献类型： 外文期刊

作者： Xiong, Zicong 1 ; Feng, Qingchun 2 ; Li, Tao 2 ; Xie, Feng 2 ; Liu, Cheng 2 ; Liu, Le 4 ; Guo, Xin 2 ; Zhao, Chunjiang 1 ;

作者机构： 1.Guangxi Univ, Sch Mech Engn, Nanning 530004, Peoples R China

2.Beijing Acad Agr & Forestry Sci, Intelligent Equipment Res Ctr, Beijing 100097, Peoples R China

3.Natl Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

4.Fruit Ind Serv Ctr, Pinggu Dist Agr Bur, Beijing 101200, Peoples R China

关键词： picking robots; robotic configurations; dual-manipulator; design optimization

期刊名称：AGRONOMY-BASEL （ 影响因子：3.949； 五年影响因子：4.117 ）

ISSN：

年卷期： 2022 年 12 卷 12 期

页码：

收录情况： SCI

摘要： In order to ensure canopy area coverage with the most compact mechanical configuration possible, this paper proposes a configuration optimization design method of dual-manipulator to meet the research and development needs of an apple-efficient harvesting robot using the typical tree shape of a "high spindle" in China as the object. A Cartesian coordinate dual-manipulator with two groups of vertically synchronous operations and a three-degree range of motion based on the features of the spatial distribution of fruits under a typical canopy of dwarf and close planting was designed. Two-stage telescoping components that can be driven by both gas and electricity are employed to ensure the picking robotic arm's quick response and accessibility to the tree crown. Based on the quantitative description of the working space and configuration parameters of the dual-manipulator, a multi-objective optimization model of the major configuration parameters is constructed. A comprehensive evaluation method of the dual-manipulator configuration based on the CRITIC-TOPSIS combined method is proposed. The optimal solutions of the lengths and elevations of upper and lower telescopic parts of the dual-manipulator and the distance from the mounting base of the outer frame of the dual-manipulator to the center of the tree trunk are determined, which are 1119.3 mm and 39.4 degrees, 898.7 mm and 26 degrees, 755.3 mm, respectively. The interaction between the configuration parameters of the dual-manipulator and its working area is then simulated and examined in order to verify the rationality of the optimum configuration settings. The results show that the optimal configuration of the dual-manipulator can fully cover the target working space, and the redundancy rate is 16.62%. The results of this study can be utilized to advance robotic fruit-picking research and development.

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