Design and Kinematic Analysis of an Apple Picking Robot

To address the issues of high labor intensity and low efficiency in traditional manual picking methods, this study design an apple picking robot for dwarf-type and dense-planting orchards. The robot features a symmetrical configuration with dual six-degree-of-freedom collaborative robotic arms, equipped with arc-shaped flexible end effectors to reduce fruit damage rates. Integrated with an electric linear actuator lifting platform and servo-driven rotary joints, it achieves full vertical coverage of the picking range. Based on the Denavit-Hartenberg parameter method, kinematic analysis was performed for the robot, and its workspace was calculated using the Monte Carlo method. Simulation results demonstrate that the robot achieves a horizontal coverage range of ±600 mm and precisely matches the vertical growth height of fruit trees, fully meeting practical orchard picking requirements. This research provides a feasible solution for automated orchard picking.