Control and Optimization of End Coordinates of Robot Arms for Agricultural Spraying

This study aims to address the challenges associated with controlling the end coordinates of robot arms for agricultural spraying. To mitigate the effects of gravity and recoil force on system deformation, we propose an auxiliary device consisting of a "positioning sleeve" and a "support rod". Four models, two with and two without the auxiliary device, are established and subjected to simulation analysis. The numerical results demonstrate a significant improvement in end coordinate control with the presence of the auxiliary device. In Model-2 (with the auxiliary device), the deviation is reduced to only 0.2407 mm, compared to 2.754 mm in Model-1 (without it). Furthermore, the auxiliary device effectively reduces the maximum Mises stress. In Model-4 (with the auxiliary device), the maximum Mises stress is 1.614 MPa, compared to 36.23 MPa in Model-3 (without it). The proposed auxiliary device demonstrates outstanding performance in achieving precise end coordinate control and reducing maximum Mises stress, thereby enhancing the effectiveness of agricultural spraying operations.