Optimal Design and Simulation of Structural Parameters of Picking Robot Based on Viewable

With the development of mechanization and intelligence of agricultural production and the acceleration of China's aging, the shortage of rural labor force is increasing, and more and more new agricultural machinery and equipment will enter the field of agricultural production, among which the development of picking robots has always been a hot issue in this field. Fruit and vegetable picking robot is a kind of complex opto-mechatronics product working in unstructured environment, and its structure and control requirements are higher than those of general industrial robots. According to the growth distribution space and operation requirements of picking eggplant, the structural parameters of robot body are optimized. According to the characteristics of eggplant and its plant growth distribution, a four-degree-of-freedom manipulator with parallel structural joints was designed based on viewable, the kinematics model of the manipulator was established, and the structural parameters of the manipulator were optimized, which was verified by simulation using MATLAB platform. On the premise of meeting the requirements of eggplant picking, the actual picking invalid space is minimized, which proves that the mechanical arm structure design is reasonable.