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Agricultural robots play a crucial role in picking fruits and vegetables in greenhouses, and robotic arms show great significance as the key component. In this paper, a modular unit is proposed for flexible robotic arms. A spherical joint is used for connection, and a cable-driven mechanism is adopted for actuating the system. A CAD model of the modular unit is established in SolidWorks, and it is simulated in Adams/view software to obtain parameters. Results show that the proposed modular unit has proper performance, enabling flexible and precise movement. It can provide a theoretical basis for the subsequent research and development for flexible robotic arms.

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Design and Simulation of a Modular Unit for an Agri-Robotic Arm

  • 会议论文

  • 发表日期：

    2026年

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  • Chencheng Lin,
  • Wenshuo Gao

摘要

Agricultural robots play a crucial role in picking fruits and vegetables in greenhouses, and robotic arms show great significance as the key component. In this paper, a modular unit is proposed for flexible robotic arms. A spherical joint is used for connection, and a cable-driven mechanism is adopted for actuating the system. A CAD model of the modular unit is established in SolidWorks, and it is simulated in Adams/view software to obtain parameters. Results show that the proposed modular unit has proper performance, enabling flexible and precise movement. It can provide a theoretical basis for the subsequent research and development for flexible robotic arms.