Abstract To solve the problems of poor working conditions and high labor intensity for artificially pruning jujube trees, a pruning scheme using a manipulator is put forward in the present paper. A pruning manipulator with five degrees of freedom for jujube trees is designed. [...] Read more. To solve the problems of poor working conditions and high labor intensity for artificially pruning jujube trees, a pruning scheme using a manipulator is put forward in the present paper.
