Structural design and analysis of the robotic arm of sea cucumber harvesting

Cheng Liu; Yu’e Yang; Chenglin Li

doi:10.1117/12.2679568

18 July 2023 Structural design and analysis of the robotic arm of sea cucumber harvesting

Cheng Liu, Yu’e Yang, Chenglin Li

Proceedings Volume 12722, Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023); 127224H (2023) https://doi.org/10.1117/12.2679568
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023), 2023, Hangzhou, China

Abstract

According to the characteristics of sea cucumbers themselves, this paper designed a serial four-DOF sea cucumbers harvesting robot arm. The structure design of its end-effector is suitable for sea cucumbers to catch sea cucumbers in their living environment, Sashimi can be harvested from cracks in the rocks without damaging their structure. The threedimensional model of the machine upper limb is accepted by using Solid Works computer program. Using ANSYS to get the statics analysis of the large arm, and the simulation consequence indicates that the part strength encounters the requirements. The machine model was constructed in the simulation surroundings based on MATLAB platform and robot toolbox, and the Monte Carlo algorithm was used to get the 3d workspace scope of the mechanical arm, ensuring that the attachment area of sea cucumber in harvesting experiment was within the operating range of robot arm..The emulation test of path planning in the joint space exercised, and continuous and steady motion curve of the joint was gotten, which laid a theoretical foundation for the subsequent path planning control.

Citation Download Citation

Cheng Liu, Yu’e Yang, and Chenglin Li "Structural design and analysis of the robotic arm of sea cucumber harvesting", Proc. SPIE 12722, Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023), 127224H (18 July 2023); https://doi.org/10.1117/12.2679568

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