Justification of the parameters of the robotic manipulator for picking fruits

Based on the analysis of physical and mechanical characteristics intensive fruit trees, technical requirements for a robotic manipulator harvesting have been developed. A computer simulation process removing fruits from crown tree was carried out to substantiate design parameters manipulator. kinematic scheme model in Simulink SimScape environment (V-REP robot simulator) Coordinate systems are linked joints degrees mobility By solving direct positional problem, position orientation device is determined. Generalized coordinates center grip established, which can vary within limits determined by mechanism: defining working space