Dual-Manipulator Optimal Design for Apple Robotic Harvesting

In order to ensure canopy area coverage with the most compact mechanical configuration possible, this paper proposes a optimization design method of dual-manipulator meet research and development needs an apple-efficient harvesting robot using typical tree shape “high spindle” in China as object. A Cartesian coordinate two groups vertically synchronous operations three-degree range motion based on features spatial distribution fruits under dwarf close planting was designed. Two-stage telescoping components that can be driven by both gas electricity are employed picking robotic arm’s quick response accessibility crown. Based quantitative description working space parameters dual-manipulator, multi-objective model major is constructed. comprehensive evaluation CRITIC–TOPSIS combined proposed. The optimal solutions lengths elevations upper lower telescopic parts distance from mounting base outer frame center trunk determined, which 1119.3 mm 39.4°, 898.7 26°, 755.3 mm, respectively. interaction between its then simulated examined verify rationality optimum settings. results show fully cover target space, redundancy rate 16.62%. study utilized advance fruit-picking development.