OPTIMIZATION DESIGN OF FRUIT PINKING ENDEFFECTOR BASED ON ITS GRASPING MODEL

The development of intelligent fruit harvesting robots is important in improving agricultural production. In this paper, we initiated the R&D of a mechanical end-effector for fruit harvesting on the basis of the intelligence of agricultural robots. First, we provided a detailed description of th...

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Bibliographic Details
Published in:Annals of Faculty Engineering Hunedoara 2016-11, Vol.14 (4), p.123
Main Authors: Hanhui, Lin, Ken, Cai, Huazhou, Chen, Zhaofeng, Zeng
Format: Article
Language:English
Subjects:
Agricultural production
Fruits
Harvest
Optimization
Robots
Online Access:Get full text
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Summary:The development of intelligent fruit harvesting robots is important in improving agricultural production. In this paper, we initiated the R&D of a mechanical end-effector for fruit harvesting on the basis of the intelligence of agricultural robots. First, we provided a detailed description of the hardware components and software control of the mechanical end-effector, analyzed the mechanism of servo controlling and established a mathematical modeling of the mechanical end-effector junctions by analyzing the harvesting movement. Thereafter, the coordinates of the target fruits are disassembled and analyzed in the context of the mathematical model for precise locating and harvesting. Finally, a trail experiment of harvesting kiwifruit was conducted. The outcome implies that each module in the harvesting robot system functions well. The proposed mathematical modeling method and servo control can provide accurate harvesting movements to the mechanical end-effector.
ISSN:1584-2665
2601-2332