Design of Cherry-Picking Manipulator Based on PLC High Speed Parallel Automation Control

Abstract

In order to reduce labor costs, solve the shortage of labor, improve the efficiency of harvesting and other issues and the performance of the existing mechanical arm, an experimental software platform will be built based on embedded PLC prototype system, and then the control methods of improving the speed and grasping accuracy of the manipulator will be systematically studied based on the dynamics model of the manipulator from three aspects: rigid body dynamics modelling, trajectory planning and dynamic control methods. The integrated optimization design method of multi-variables based on dynamic scale synthesis, dynamic optimization design and optimal trajectory planning is realized. The kinematics, rigid body dynamics and elastodynamics of the system can be guaranteed simultaneously. The kinematics and rigid body dynamics models of the manipulator are established. A dynamic scale synthesis method considering both kinematics and rigid body dynamics characteristics is proposed. Characteristics are formed in dynamic evaluation index and performance constraints. Finally, the results show that the load characteristics and dynamic characteristics of the cherry-picking manipulator based on PLC high-speed parallel automation control are in good agreement with the theoretical values, and the validity of rigid body dynamics and elastic dynamic model is verified. The self-avoidance obstacle of cherry manipulator in coordinated picking is solved, and the singularity of cherry manipulator in picking is avoided. The high speed and barrier-free operation of the manipulator is realized.