Mixed joint line driving type tea leaf picking flexible actuator

The invention belongs to the technical field of automatic measurement and control of agricultural and forestry mechanical equipment, and relates to a famous high-quality tea picking operation device, in particular to a mixed joint line driving type tea picking flexible actuator. Comprising a two-layer base, a first discrete joint, a first continuous joint, a second discrete joint, a second continuous joint and a mechanical claw which are sequentially connected in series. The base, the first discrete joint and the second discrete joint respectively have a rotational degree of freedom, the first continuous joint and the second continuous joint respectively have two bending degrees of freedom, and the manipulator has a moving degree of freedom. According to the mixed joint line driving type tea leaf picking flexible actuator, the modes of motor/steering engine driving and rope power transmission are adopted, a mechanical arm moves more flexibly, the actuator adapts to the multi-obstacle complex environment where