Design and Experiment of SCARA-based Flexible Grape Picking Robot Arm
To address the problems of today's small grape growing environment,complex environment and less flexibility of space movement and weaker obstacle avoidance ability of common articulated robotic arms.Also to adapt to the charac-teristics of grape plants with fewer branches,fewer obstacles in the lower layer and more branches,more obstacles in the upper layer,design and manufacture a flexible robotic arm based on SCARA robotic arm with SCARA robotic arm in the bottom and flexible robotic arm part.Also develop its human-computer interaction system.Determine the end space posi-tion of the robot arm and the kinematic relationship of the robot arm by analyzing the mechanical structure and working principle of the robot arm,and draw its working space by using MATLAB.At the same time,the upper computer system and the lower computer system cooperate with each other to realize the position motion control of SCARA robotic arm and flexible robotic arm.
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