Kinematics simulation of an aided fruit-harvesting manipulator based on ADAMS

Yujie Cui; Jianning Hua; Pu Shi

doi:10.1109/ICCDA.2010.5541290

Kinematics simulation of an aided fruit-harvesting manipulator based on ADAMS

Yujie Cui, Jianning Hua, Pu Shi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

As a main type of agricultural robot , fruit harvesting robot has a great potential in agriculture production. In this context , a formulation of the manipulator based on Danevit - Hartenberg is educed for the kinematics equation , and the virtual model of manipulator is developed. The kinematics is studied and inverse kinematics is obtained based on algebraic method. The kinematics simulation of the manipulator based on ADAMS is presented. And the kinematics simulation produced the processing motion course and relevant kinematics curves. The results indicate that the manipulator could implement the process according to the expected trajectory successfully.

Original language	English
Title of host publication	2010 International Conference on Computer Design and Applications, ICCDA 2010
Pages	V5222-V5226
DOIs	https://doi.org/10.1109/ICCDA.2010.5541290
Publication status	Published - 2010
Externally published	Yes
Event	2010 International Conference on Computer Design and Applications, ICCDA 2010 - Qinhuangdao, Hebei, China Duration: 2010 Jun 25 → 2010 Jun 27

Publication series

Name	2010 International Conference on Computer Design and Applications, ICCDA 2010
Volume	5

Conference

Conference	2010 International Conference on Computer Design and Applications, ICCDA 2010
Country/Territory	China
City	Qinhuangdao, Hebei
Period	10/6/25 → 10/6/27

Keywords

ADAMS
Harvesting robot
Kinematics simulation
Manipulator

ASJC Scopus subject areas

Computer Graphics and Computer-Aided Design
Computer Science Applications

Access to Document

10.1109/ICCDA.2010.5541290

Cite this

Kinematics simulation of an aided fruit-harvesting manipulator based on ADAMS. / Cui, Yujie; Hua, Jianning; Shi, Pu.
2010 International Conference on Computer Design and Applications, ICCDA 2010. 2010. p. V5222-V5226 5541290 (2010 International Conference on Computer Design and Applications, ICCDA 2010; Vol. 5).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cui, Y, Hua, J & Shi, P 2010, Kinematics simulation of an aided fruit-harvesting manipulator based on ADAMS. in 2010 International Conference on Computer Design and Applications, ICCDA 2010., 5541290, 2010 International Conference on Computer Design and Applications, ICCDA 2010, vol. 5, pp. V5222-V5226, 2010 International Conference on Computer Design and Applications, ICCDA 2010, Qinhuangdao, Hebei, China, 10/6/25. https://doi.org/10.1109/ICCDA.2010.5541290

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abstract = "As a main type of agricultural robot , fruit harvesting robot has a great potential in agriculture production. In this context , a formulation of the manipulator based on Danevit - Hartenberg is educed for the kinematics equation , and the virtual model of manipulator is developed. The kinematics is studied and inverse kinematics is obtained based on algebraic method. The kinematics simulation of the manipulator based on ADAMS is presented. And the kinematics simulation produced the processing motion course and relevant kinematics curves. The results indicate that the manipulator could implement the process according to the expected trajectory successfully.",

keywords = "ADAMS, Harvesting robot, Kinematics simulation, Manipulator",

author = "Yujie Cui and Jianning Hua and Pu Shi",

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AB - As a main type of agricultural robot , fruit harvesting robot has a great potential in agriculture production. In this context , a formulation of the manipulator based on Danevit - Hartenberg is educed for the kinematics equation , and the virtual model of manipulator is developed. The kinematics is studied and inverse kinematics is obtained based on algebraic method. The kinematics simulation of the manipulator based on ADAMS is presented. And the kinematics simulation produced the processing motion course and relevant kinematics curves. The results indicate that the manipulator could implement the process according to the expected trajectory successfully.

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KW - Kinematics simulation

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Kinematics simulation of an aided fruit-harvesting manipulator based on ADAMS

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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