Development of the High Extensible Ratio Arm with Tip Extensible Mechanism and Rotation by Parallel Convex Drive in Synecoculture Environment

We have developed a compact and high-stretch ratio robot arm that can avoid interference with crops which are grown in Synecoculture<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">TM</sup>. This robot arm has pitch axis rotation by parallel drive of convex. Compared with the existing arm, it expanded the vertical stroke from 300 mm to 1200 mm and can also extend the tip of the arm horizontally to 300 mm. Also, the Pitch axis angle has been improved from one-way operation from 0 deg to -90 deg to bi-directional operation from 25 deg to -90 deg.