DFNet

November 20, 2024| Agriculture |

Researchers from Hainan University, China, developed a six degrees-of-freedom robotic manipulator designed to address challenges in dragon fruit harvesting, characterized by complex growth positions and difficulties in automation. The study focused on the manipulator’s motion dynamics and performance under various conditions.

The robot’s structural design and manipulator dimensions were tailored to dragon fruit cultivation, and its kinematic and dynamic models were constructed using screw theory and the Kane equation. The manipulator’s workspace was analyzed via the Monte Carlo method, while performance comparisons between trajectory-planned and non-planned motions demonstrated the benefits of trajectory planning. Joint 3’s power consumption decreased by 62.28%, and trajectory planning reduced peak torques for Joint 4 during critical operations. Simulated and experimental results closely matched, with a maximum torque error of −2.76 N·m, confirming the accuracy of the dynamic models.

Field trials showed a picking success rate of 66.25% and an average picking time of 42.4 seconds per fruit. The manipulator performed smoothly, indicating good operational stability. This research provides a theoretical and technical foundation for intelligent dragon fruit harvesting, advancing the development of agricultural robotics for tropical fruit production.

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