Analysis of workspace for a harvesting manipulator based on Monte-Cario method

The working space of manipulator is an important dynamic index. Exact computation of the boundary shape and volume or area of the manipulator workspace is very important for its optimum design and application. The workspace should cover the harvesting fruit distribution space of one plant. In this paper, the kinematic model of the manipulator is presented and Monte Carlo method is used to generate a 4-DOF manipulator workspace. As a random sampling numerical method, the Monte Carlo method is relatively simple and flexible to apply, so it is suitable for the workspace generation of the manipulator. Simulation graph is obtained with the aid of arithmetic procedure and computer graphical. Simulation result shows that the manipulator´s working space is well-knit and this method is feasible and practical.