Based on the Automatic Control of Agricultural Manipulator with Many Arms Design

Zhao Donghui;Zhang Hui;Zhengzhou Electric Power College;Henan Industry and Trade Vocational College;

manipulator with many arms;;smart mobile platforms;;end effector;;control system;;pneumatic

With labor cost increase and forestry operations to improve the degree of automation,in the future will gradually adopt the automatic picking device to pick fruit. This paper discusses the design process of intelligent mobile platform,five axis manipulator,end effector,electrical control device which belong to the automatic fruit picking device which with many arms. The device mainly uses CAD / CAE software to design and analysis,improve the design efficiency,feasibility and scientific. The unit is designed with four arms,which can pick the fruit at the same time,so the efficiency of picking manipulator is greatly improved,and is installed with a visual sensor,pressure sensor,position sensor in the manipulator,and the finger stress analysis was made. A crawler type walking mechanism is adopted on the device,which can adapt to various complicated road,the device is installed in the automatic navigation system and visual identity system,can accurately locate the position and pick fruit. In addition,the application of S7- 200 model of PLC and pneumatic technology is used in the picking device,so that the overall structure is compact and more stable.