Real-Time Simulation System of Virtual Picking Manipulator Based on Parametric Design

Based on agronomic and harvest characteristic analysis for bananas, according to bionic principle, a mechanism of picking banana manipulator simulating action of a person manually picking bananas was proposed, which was consisted of rotary mechanism, lifting mechanism, and shift mechanism, the body mechanical model of the picking banana manipulator was established. The multi-domain uniform model of a picking banana manipulator was developed employing the virtual simulation and modeling language Modelica. A body structure model for picking banana manipulator was established based on component models in DriveLib model library. Motion control’s mathematic models for picking banana manipulator were analyzed according to drive motor performance for the body structure, the simulation model of a mechanical motion control for the picking banana manipulator were realized in Dymola simulation platform. The validity models could provide a theoretical basis for picking banana manipulator primary design.

show abstract

“…Here r is radio of a screw spindle. Then the balance relationship of a helix transmission between motor torque and load is given by equation (6).…”

Section: Motion Simulation For a Helix Transmission Mechanismmentioning

confidence: 99%

“…Agricultural University [4], and the harvesting tomato robot based on binocular vision was researched in Jiangsu University [5]. Agricultural picking manipulators were simulated and analyzed applying the multi-domain simulation language Modelica in South China Agricultural University [6,7].…”

Section: Introductionmentioning

confidence: 99%

Structure Design and Multi-Domain Modeling for a Picking Banana Manipulator

Wang

Chen

Zou

et al. 2010

AMR

View full text Add to dashboard Cite

show abstract

“…Nevertheless, there are few commercialized harvesting robots, and one of the main problems might be the intelligence of the robots could not meet the demand of the complex environment [17]. Our research group has been focusing on the behavior control and the intelligent simulation system of agricultural harvesting robot based on virtual reality [5,[21][22][23][24][25][26][27], providing a new research tool to study agricultural harvesting robot.…”

Section: Introductionmentioning

confidence: 99%

Control Study of the Harvesting Robot in Virtual Environment

Zou¹,

Song²,

Zou³

et al. 2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2017)

Self Cite

View full text Add to dashboard Cite

Abstract-Aiming at the challenge of intelligent control of harvesting robot, this study firstly introduced the concept of the harvesting behavior and its basic behaviors, and based on those concepts the behavior knowledge database was established as a library of the functions of the basic behaviors. Secondly, a model of behavior control was proposed based on the vision sensors, and the model includes the weight coefficients ω and the time sequence coefficient T which could provide the possibility of combining the different basic behaviors in the behavior knowledge database. Thirdly, an intelligent simulation system of the behavior control was developed. Finally, preliminary tests in laboratory were carried out to testify the simulation system and the control system.

show abstract

Real-Time Simulation System of Virtual Picking Manipulator Based on Parametric Design

Cited by 2 publications

References 5 publications

Structure Design and Multi-Domain Modeling for a Picking Banana Manipulator

Structure Design and Multi-Domain Modeling for a Picking Banana Manipulator

Control Study of the Harvesting Robot in Virtual Environment

Contact Info

Product

Resources

About