Changgao Xia1,  Chenxi Sun This email address is being protected from spambots. You need JavaScript enabled to view it. 1, Jiangyi Han1

1College of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, P.R. China


Received: February 26, 2020
Accepted: May 15, 2020
Publication Date: September 1, 2020

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In order to improve the quality and efficiency of hedge trimming, a research of a four-degree-of-freedom trimming manipulator is carried out in this paper. The global kinematic performance metric (that is, the Global Condition Index constructed by the Jacobian matrix) is utilized to measure the dexterity of the manipulator. Then the structural parameter optimization model is established using the maximum Global Condition Index(GCI) as the objective function and the particle swarm algorithm is used to solve the optimization problem. The optimal link lengths(big arm, middle arm forearm) of the manipulator are 1190, 937, and 633mm, the initial GCI is 0.68442, and the optimized value is 0.79521. Obviously, the dexterity is higher. To verify the feasibility of the optimized manipulator, this paper proposes a method to evaluate the workspace, using accessibility to express how much the actual workspace satisfies the target workspace. Simulation results show that the reachability of optimized manipulator is 100%, improved by 11.21%, which proves that the optimized manipulator is completely feasible.

Keywords: trimming manipulator, Global Condition Index, optimization, workspace



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