Kinematics Analysis and Simulation Research of Fruit and Vegetable Picking Arm Based on MATLAB

Abstract

Abstract In order to understand the reliability and stability of the fruit and vegetable picking arm during its operation, a simulation design of the fruit and vegetable picking arm grabbing design was designed. This article mainly takes the picking arm as the research object, adopts the improved D-H method to establish the coordinate system of each joint, establishes the kinematics equation, and solves the kinematics. Using the robotics toolbox of MATLAB software, mathematical modeling and Simulation of picking process are carried out. The simulation results show that the operation of the fruit and vegetable picking arm is very stable, which has certain practical significance for further research on picking robots.