*4.1. Simulation Analysis of Manipulator Motion*

Aluminum alloy material, 302 steel, and S304 material were imported into the manipulator in Adams software, and constraints were added to further verify the rationality of the design of the manipulator. The manipulator motion simulation was completed at a driving force of 2000 N and a moving plate speed of 5.5 mm/s. Marker points were added to the contact position between the middle of the clamping guard plates and the contact position between the cutting blades and the stem of the mechanical hand to measure the contact force of the two positions after the simulation (Figure 10), thus verifying the reasonable design of the manipulator.

**Figure 10.** Manipulator motion simulation: (**a**) Manipulator motion simulation; (**b**) Clamping pressure curve; (**c**) Cutting force curve.

In Figure 10b, the red curve represented the pressure on the guard plates when the manipulator was clamping the flower ball, and the blue line represented the pressure stabilization time point. At 12.7 s, the clamping pressure tended to stabilize at 25.08 N, while purple represented the maximum pressure of 29.78 N and green represented the minimum pressure of 24.31 N. In Figure 10c, the blue curve represented the pressure on the blade when the manipulator was cutting the stem. When the cutting was finished at 13.2 s, the cutting force was 0 N. Purple represented the maximum cutting force of 34.92 N and green represented the minimum cutting force of 29.27 N. Therefore, it can be concluded from Figure 10b,c that the flower ball surface pressure and stem cutting force in the simulation test were basically consistent with the forces tested in the actual test above.
