Design and Dynamic Model of a Mobile Robot with a Parallel Mechanism for Harvesting Fruits

A technique for constructing a dynamic simulation model for a mobile fruit- harvesting robot based on the use of a parallel structure mechanism in the design is considered. This investigation shows the possibilities of investigating kinematic and dynamic characteristics when creating a probable trajectory for the performer to reach an object placed in the work area, based on computer simulation modeling of the design of a parallel robot provided for a robotic fruit harvesting system, and obtaining values of the force characteristics of structural elements and characteristics of their change while maintaining the specified parameters of the trajectory the performer. Changes in velocities and accelerations in various parts of the structure during the execution of a given trajectory of the end-effector were investigated. This made it possible to analyze various variants of the design being developed. The values and typical changes in the force parameters in the reactions of the joint are also determined, depending on the position and nature of the trajectory of the end-effector. These results show the flexibility of the model and techniques, which allows us to conclude that it is advisable to use them in solving various tasks during research and design work.