Kinematics Analysis of the Soft Mechanical Arm of a 4-DOF Tomato Picker
Considering the application requirement of soft mechanical arm of tomato picker in complex environment,the 4-DOF model of tomato picker was determined.Forward motion and inverse motion analysis of the tomato picking soft mechanical arm were carried out to determine the structure of the mechanical arm,joint length,DOF selection and other parameters,and to draw a three-dimensional model,which laid a foundation for the next selection of hardware and software programming of the control system.
tomato pickermechanical armkinematics analysisdegree of freedom
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