Control System Design And Hydraulic Arm Simulation Of Apple Harvesting Robot

Harvesting robot has emerged as a promising alternative to manual harvesting of apples. In this study, the control system for GY-1 type apple harvesting robot was developed using the PROSYD 1131 software, which could enable the harvesting robot to move and pitch apples exactly as intended by the designer. In addition, a 5-DOF manipulator driven by servo motors was designed, and its kinetics was simulated using ADAMS to better understand the motion and force state of the manipulator. The experimental results show that the pitching speed of this harvesting robot is 14.04-26.78 s per apple, with an average pitching speed of 19.60 s per apple. The recognition rate is 86%, and the pitching rate after positioning is 100%. However, more research is needed to further improve the obstacle avoidance ability, perception ability, and intelligent level of the apple harvesting robot.