A Method for Designing a Tripod-Based Robot with a Telescopic Rod for Fruit Harvesting

The analysis of the research showed that the existing prototypes of robots for picking apples are still at the stage of experimental research due to low efficiency, as a result of which it is necessary to look for new more effective methods and develop new technical solutions for picking robots. This paper presents the design of a parallel manipulator with a telescopic link for a fruit picker robot. The fruit picking robot consists of a mobile platform that is connected to a fruit picking basket. A parallel manipulator with a telescopic link is installed on the movable platform, on which a gripping device is installed. Fruit picking is carried out through a flexible pipe. A computational scheme of a parallel manipulator with a telescopic link is presented, on the basis of which a detailed 3D model is constructed and simulation modeling of the limiting orientation angles is carried out. Technical solutions are described that have made it possible to expand the range of orientation angles of the platform. The control scheme of a parallel manipulator with a telescopic link is presented and calibration of the constructed prototype based on simulation data is performed. An experiment has been conducted and the results are presented.