Modeling and Performance Simulation for a Picking Manipulator Based on Modelica

Abstract

This paper presents a procedure and the results of structure design about a picking manipulator to be used for autonomous banana harvesting. Based on structure analysis and module partition for the picking manipulator, DriveLib model library was developed employing the virtual simulation and modeling language Modelica. A body structure model for the picking manipulator was established based on component models in DriveLib model library. Motion controls mathematic models for the picking manipulator were analyzed according to drive motor performance for the body structure, and then the partial differential equations were transformed into the ordinary differential equation easily solved by Modelica with the Laplace transform, mechanical motion simulation was realized. The validity models could provide a theoretical basis for picking banana manipulator primary design.