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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
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86-571-87239571
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No.9 Gaoguannong,Daxue Road,Hangzhou,China
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meem_contribute@163.com
Abstract: In order to solve the issue of less automated orchard hedge trimming tools, high labor intensity of trimming operations, and low work efficiency, a practical hydraulic driven four-degree-of-freedom trimming manipulator was designed according to the requirements for orchard hedge trimming operations, and the motion range of each joint was determined. Based on the standard D-H parameter method, the coordinate systems of each link of the manipulator were established, and the forward and inverse kinematics calculations of the manipulator were completed. A kinematic model of the manipulator was established using the MATLAB Robotics Toolbox, and the forward and inverse kinematics of the manipulator, as well as the motion trajectories of each joint, and the angular displacement curves, angular velocity curves, and angular acceleration curves of each joint of the manipulator during the trimming of the top and side of the hedge were simulated and verified. In addition, the workspace of the manipulator was simulated and analyzed by using the Monte Carlo method, thus 3D and planar cloud images of the workspace were calculated. Finally, an experimental prototype was produced for trimming testing. The research results show that the correctness of the forward and inverse kinematics solutions of the manipulator are verified, and the designed end effector of the manipulator can fully reach the desired trimming target position. The experimental results of the trimming machine prototype are consistent with expectations. The joints of the manipulator move smoothly during operation, with high trimming efficiency and good results, which can meet the automatic trimming requirements for medium and high hedge, and greatly reduce the labor intensity of trimming operations.
Key words: hedge;four degrees of freedom; fluid power drive manipulator; kinematics analysis; MATLAB simulation; Monte Carlo method