Mechanical design of a fruit picking manipulator: improvement of dynamic behavior

Jose L Pons*, Ramon Ceres, Antonio R. Jimenez

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

12 Scopus citations


The aim of applying robotics to agricultural labor has been a constant for many researchers during the last decade. Among some other disciplines, it involves specific design of manipulators to account for the need of light structures working at high speeds and accelerations, while preserving the environment against damage. All these requirements, mainly the speed and acceleration, define the choice of manipulator's structure and make the mechanical design to be optimized for the manipulator dynamics. This paper presents the specific design of a manipulator for harvesting fresh fruit (oranges). Firstly, we discuss the optimum manipulator structure taking into account all the requirements, then, in order to improve the resulting dynamics, we use an index (NPI) defined in a previous work, reflecting the non-linear effects on the actuators due to internal parameters of the structure, and extend it to account for the changing payloads for an improved design.

Original languageEnglish (US)
Pages (from-to)969-974
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1996
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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