Design and Performance Test of a Jujube Pruning Manipulator

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