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Design and Simulation of Robot Manipulator for Plucking Tea

Abstract第4-5页
中文摘要第6-15页
Symbols and Abbreviations第15-17页
Chapter 1 Introduction第17-41页
    1.1 Introduction第17页
    1.2 Robot development progress and applications第17-20页
    1.3 Agricultural robots and their characteristic第20-34页
    1.4 Research motivation第34页
    1.5 Research objective第34页
    1.6 Organization of the Thesis第34-35页
    References第35-41页
Chapter 2 Vision System for Manipulator of Tea Sprouts Harvesting Robot第41-63页
    2.1 Research Objectives and Content of the chapter第41-42页
    2.2 Movement for picking tea and leaves postures第42页
    2.3 Image collection第42-43页
    2.4 Otsu thresholding method第43-44页
    2.5 Image processing and the noise filtering第44-45页
    2.6 Analysis of tea leaves images第45页
    2.7 Color Segmentation第45-46页
    2.8 The sprouts recognition based on color factor method第46-54页
    2.9 Tea sprouts recognition research based on spectral analysis technique第54-59页
    2.10 Imaging spectrometer第59页
    2.11 Chapter Conclusion第59页
    References第59-63页
Chapter 3 Kinematics & Manipulator Structure Design and Simulation第63-77页
    3.1 Introduction第63页
    3.2 Parameters of tea tree fields and properties of tea leaves第63-64页
    3.3 Manipulator Structure Design and Chosen Degrees of Freedom第64-65页
    3.4 Denavit-Hartenberg Representation第65-66页
    3.5 Kinematics第66-72页
        3.5.1 Forward Kinematics Position of the Robot第67-69页
        3.5.2 Inverse Kinematics Orientation of the Robot第69-72页
    3.6 Simulation results and discussion第72-74页
    3.7 Chapter Conclusion第74-75页
    References第75-77页
Chapter 4 Dynamics第77-105页
    4.1 Velocity and Inverse velocity Kinematics第77-80页
    4.2 Acceleration第80-82页
    4.3 Jacobian of the Robot and its Inverse第82-85页
    4.4 The manipulability of the Manipulator第85-86页
    4.5 The workspace of the Manipulator第86-90页
    4.6 Singularities of the Manipulator in the Workspace第90-91页
    4.7 Trajectory planning第91-99页
        4.7.1 Cartesian space trajectory第93-94页
        4.7.2 Joint space trajectory第94-99页
    4.8 Design of the end effector第99-101页
    4.9 Vacuum suction for Tea leaves第101页
    4.10 Chapter Conclusion第101-102页
    References第102-105页
Chapter 5 Modeling and Simulation of the Manipulator and Trajectory第105-133页
    5.1 Introduction第105-108页
    5.2 The Lagrangian equation of rotational motion第108页
    5.3 The Manipulator's energy consumption第108-116页
        5.3.1 Potential Energy第109页
        5.3.2 Kinetic Energy第109-114页
        5.3.3 The Inertia Tensor第114-116页
    5.4 Dynamic Equations of Motion for the Manipulator第116-118页
    5.5 Robot Torques calculation and joints trajectory Equations第118-122页
    5.6 Simulation results第122-129页
    5.7 Chapter Conclusion第129页
    References第129-133页
Chapter 6 Conclusion and Recommendations第133-135页
    6.1 Conclusion第133-134页
    6.2 Recommendations for future Work第134-135页
Appendices第135-157页
Acknowledgement第157-158页
Publications of the authors第158-159页

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