Design and Test of Manipulator for Camellia Oleifera Flower Buds Collecting
In hilly regions,there is a large number of camellia oleifera forests,and currently,there is no mechanized e-quipment available for collecting camellia oleifera flower buds.This study designed a six-degree-of-freedom manipulator for collecting camellia oleifera flower buds.By analyzing the biological characteristics of camellia oleifera flower buds,the rotary-twist end effector could achieve efficient collection with a clean rate of 90%.The size of the manipulator was de-termined by the manipulator workspace analysis;and the end effector was loaded onto the manipulator for field test.The results showed that the six-degree-of-freedom manipulator equipped with the rotary-twist end effector could reach the boundary position within the collecting range.The maximum devications in the x,y and z directions was 3.4 cm,3.3 cm and 3.4 cm,respectively.It provided a basis for the intelligent collection of camellia oleifera flower buds.
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