Fig. 1
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Structure of picking manipulator: 1. Housing, 2. monocular camera, 3. vibrating head bracket, 4. vibrating hydraulic motor, 5. guide link, 6. vibrating crank disk, 7. clamping hydraulic motor, 8. vibrating connecting link, 9. clamping bevel gear pair, 10. clamping spline screw, 11. clamping nut, 12. clamping link, 13. clamping jaw.
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