Design of Bayberry Harvest Manipulator with Single-Mast Frame Structure

Based on investigating growth characteristic of bayberry, harvest manipulator was developed in this paper. Single-mast rising mechanism, driven by hydraulics cylinder is used in the manipulator frame structure. Rods with irregular section in rising mechanism, material of which is 2A12, have great intensity and stiffness. Drive between rods is transmitted by sprocket wheel and roller chain. The rising height can reach to 7.5 m. Arm and two-finger bayberry picking manipulator driving by compressed air was designed. Components of manipulator were selected based on analyzing forces imposed on bayberry. Silicone gasket fixed on two fingers results in little injury by pressing. The arm composes two pneumatic actuators which can swing 180deg. Maximal operating radium of the harvest manipulator is 1.6 m.