Design of Automatic Picking Robot Based on 2-DOF Stabilized Platform

Farmland automatic picking robot with large span operation ability in the vertical and horizontal direction has a wide application prospect. It can be used to pick bananas, boro honey, grapefruit, etc. In this paper, an automatic picking robot based on 2-DOF stabilized platform is designed for the banana picking. There are three main components of the picking robot including the moving chassis which can adapt to the complex ground environment in the field, a 3-DOF mechanical arm and a grip-shear integrated operation handle at the end of the manipulator arm. A 2-DOF stabilization platform is designed to compensate the rolling and pitching caused by the soft soil and the posture change of the manipulator arm.