Version 1
: Received: 19 September 2024 / Approved: 20 September 2024 / Online: 20 September 2024 (16:19:36 CEST)
How to cite:
Salazar, M.; Portero, P. Analysis of the Motion of a Robotic Arm for Fruit Harvesting Using Matlab Software. Preprints2024, 2024091624. https://doi.org/10.20944/preprints202409.1624.v1
Salazar, M.; Portero, P. Analysis of the Motion of a Robotic Arm for Fruit Harvesting Using Matlab Software. Preprints 2024, 2024091624. https://doi.org/10.20944/preprints202409.1624.v1
Salazar, M.; Portero, P. Analysis of the Motion of a Robotic Arm for Fruit Harvesting Using Matlab Software. Preprints2024, 2024091624. https://doi.org/10.20944/preprints202409.1624.v1
APA Style
Salazar, M., & Portero, P. (2024). Analysis of the Motion of a Robotic Arm for Fruit Harvesting Using Matlab Software. Preprints. https://doi.org/10.20944/preprints202409.1624.v1
Chicago/Turabian Style
Salazar, M. and Paola Portero. 2024 "Analysis of the Motion of a Robotic Arm for Fruit Harvesting Using Matlab Software" Preprints. https://doi.org/10.20944/preprints202409.1624.v1
Abstract
This article presents a kinematic analysis of a 4-degree-of-freedom (DOF) robotic arm equipped with a 3-finger gripper, specifically designed for harvesting fruits of varying sizes. The kinematic modeling is thoroughly detailed, encompassing the equations of motion, homogeneous transformation matrices, and kinematic solutions required for the efficient operation of the robotic arm. This analysis is crucial for optimizing both the design and programming of agricultural robots, aiming to enhance harvesting efficiency and reduce labor costs. Additionally, an in-depth examination of the 3-finger gripper’s movement is provided, illustrating how MATLAB facilitates the simulation and visualization of its dynamic behavior during the opening and closing processes. The benefits of using MATLAB for this purpose are emphasized, including its ease of implementation, advanced simulation capabilities, and seamless integration with other tools to optimize the performance of robotic systems in agricultural settings. This study makes a valuable contribution to the field of agricultural robotics, offering technical insights that can be applied in the development of sophisticated robotic solutions for the modern agricultural industry.
Keywords
Kinematic analysis; Robotic arm; 4 degrees of freedom
Subject
Engineering, Mechanical Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
