A Kinematics Analysis of Eggplant Picking Robot Based on D-H Method

摘要

In order to realize accuracy control, D-H (Denavit-Hartenberg) method is adopted to make a kinematics analysis on the 4 DOF articulated eggplant-picking robot. The mechanical structure of eggplant picking robot with four degrees of freedom is designed in accordance with operation requirements of the picking robot. The robot kinematics model is established with D-H method and the forward kinematics solution for the robot is obtained. The inverse kinematics solution is solved by using the simplified inverse transformation method according to the operation features of the robot. It is shown by tests that the error of the forward kinematics solution is ±1.5mm while the error of the inverse kinematics solution is ±1.31°. The structural design of the 4 DOF picking robot that is designed and developed is reasonable. the kinematics analysis result based on the D-H method is correct, and the robot can meet the requirements for eggplant picking under greenhouse cultivation environment.