Design of the Robotic Arm Structure for a Fruit and Vegetable Picking Robot

This paper designs an automated robot for harvesting low-growing fruits and vegetables, with a focus on the structural design of its chassis and robotic arm. The robotic arm's end effector is a gripper, which functions as the actuator. The work space is analyzed using the Monte Carlo method, and a Denavit-Hartenberg (D-H) coordinate system is established for kinematic analysis. The MoveIt framework is used for automatic path planning of the robotic arm, and the gripper is utilized for the nondestructive harvesting of fruits and vegetables. Ultimately, the design of the automated harvesting system for fruits and vegetables is completed.