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Design and Performance Test of a Jujube Pruning Manipulator

文献类型： 外文期刊

作者： Zhang, Bin 1 ; Chen, Xuegeng 3 ; Zhang, Huiming 1 ; Shen, Congju 3 ; Fu, Wei 1 ;

作者机构： 1.Hainan Univ, Sch Informat & Commun Engn, Haikou 570228, Hainan, Peoples R China

2.Hainan Univ, Mech & Elect Engn Coll, Haikou 570228, Hainan, Peoples R China

3.Shihezi Univ, Coll Mech & Elect Engn, Shihezi 832003, Peoples R China

4.Xinjiang Acad Agr & Reclamat Sci, Shihezi 832003, Peoples R China

关键词： jujube pruning; manipulator; kinematic analysis; high-speed photography technology; performance test

期刊名称：AGRICULTURE-BASEL （ 影响因子：3.408； 五年影响因子：3.459 ）

ISSN：

年卷期： 2022 年 12 卷 4 期

页码：

收录情况： SCI

摘要： To solve the problems of poor working conditions and high labor intensity for artificially pruning jujube trees, a pruning scheme using a manipulator is put forward in the present paper. A pruning manipulator with five degrees of freedom for jujube trees is designed. The key components of the manipulator are designed and the dimension parameters of each joint component are determined. The homogeneous transformation of the DH parameter method is used to solve the kinematic equation of the jujube pruning manipulator, and the kinematic theoretical model of the manipulator is established. Finally, the relative position and attitude relationship among the coordinate systems is obtained. A three-dimensional mathematical simulation model of the jujube pruning manipulator is established, based on MATLAB Robotics Toolbox. The Monte Carlo method is used to carry out the manipulator workspace simulation, and the results of the simulation analysis show that the working space of the manipulator is -600 similar to 800 mm, -800 similar to 800 mm, and -200 similar to 1800 mm in the X, Y, and Z direction, respectively. It can be concluded that the geometric size of the jujube pruning manipulator meets the needs of jujube pruning in a dwarf and densely planted jujube garden. Then, based on the high-speed camera technology, the performance test of the manipulator is carried out. The results show that the positioning error of the manipulator at different pruning points of jujube trees is less than 10 mm, and the pruning success rate of a single jujube tree is higher than 85.16%. This study provides a theoretical basis and technical support for the intelligent pruning of jujube trees in an orchard.

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