Denavit-Hartenberg (DH) parameters can uniquely determine the structure of manipulator and are widely used in FK modeling of robotic manipulator66. Table 1 lists the DH parameters of the manipulator studied in tthhiesopfafspeetro, wf thheerecoani,nαeic, tdiin,gθirroedp,raensedntthte...
Based on the above theoretical calculation, kinematics parameters were analyzed and verified by Adams software. IF and STEP velocity functions were used to define the motion form of the driving source to simulate manipulator opening away from the seedling, straight down near the seedling, inserting ...