The Open Materials Science Journal

2015, 9 : 50-55
Published online 2015 June 26. DOI: 10.2174/1874088X01509010050
Publisher ID: TOMSJ-9-50

Principle Analysis and Parameter Optimization for Underactuated End- Effector Manipulator for Apple Picking

Yu Ya-xin , Wu Fei , Zhu Rong and Zhang Fei
Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, 310018, China.

ABSTRACT

In this paper, the mechanical structure of an underactuated end-effector manipulator for apple-picking is presented. The structure is consisted of three identical fingers which are driven by one motor. Each finger is formed by three joints which are connected with connecting bar and gears. With operation of grasp and twist executed by the driven fingers, apple-picking action completed. Mathematical model of the mechanical structure is proposed. Kinematics simulation & optimization software which have a Human-Computer Interaction interface is developed with Visual Basic visualization platform. Parameters which affect enveloping space mostly are analyzed. With processing and analyzing data which get from the software, a set of optimum structure parameters are obtained. A sample machine of the Endeffector Manipulator which is used for testing purpose is designed according to the optimum structure parameters.

Keywords:

End-effector, envelope, kinematics, parameter design, underactuated.