文献类型： 外文期刊
作者： Yin, F. 1 ; Shen, Y. 1 ; Chen, Y. 1 ; Zhang, C. 2 ; Wu, M. 1 ;
作者机构： 1.Wenzhou Univ, Coll Mech & Elect Engn, Wenzhou 325035, Peoples R China
2.Zhejiang Acad Agr Sci, Inst Agr Equipment, Hangzhou 310021, Peoples R China
关键词： ADAMS; Dynamic simulation; Elevated tomato; Trajectory planning
期刊名称：JOURNAL OF AGRICULTURAL SCIENCE AND TECHNOLOGY （ 影响因子：1.098； 五年影响因子：1.348 ）
ISSN： 1680-7073
年卷期： 2021 年 23 卷 1 期
页码：
收录情况： SCI
摘要： The side branches in tomato plants have a great impact on tomato yield and fruit quality and the pruning work is now basically done manually, which has high labor intensity and high-risk factor. The elevated cultivation of tomatoes was taken as the objective of this research and 6 degrees of freedom P-R-R-R-R-R tomato side branch pruning robotic arm was proposed. The dynamic simulation of the robotic arm in the obstacle environment was completed by ADAMS. Simulation results showed the angular velocity and angular acceleration curves of each joint. A trajectory planning method combining Cartesian space and joint space was proposed to ensure that the robotic arm can avoid obstacles while effectively reducing the impact during operation.
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