Abstract
In the field of precision agriculture, the automation of sampling and harvesting operations plays a central role to expand the possible application scenarios. Within this context, this work presents the design and prototyping of a novel underactuated tool for the harvesting of autonomous grapevines. The device is conceived to be one of several tools that could be automatically grasped by a robotic manipulator. As a use case, the presented tool is customized for the gripper of the robotic arm mounted on the rover Agri.Q, a service robot conceived for agriculture automation, but it can be easily adapted to other robotic arm grippers. In this work, first, the requirements for such a device are defined, then the functional design is presented, and a dimensionless analysis is performed to guide the dimensioning of the device. Later, the executive design is carried out, while the results of a preliminary experimental validation test are illustrated at the end of the paper.
Subject
Artificial Intelligence,Control and Optimization,Mechanical Engineering
Reference42 articles.
1. The Interaction of Human Population, Food Production, and Biodiversity Protection;Crist;Science,2017
2. Aspects of Precision Agriculture;Sparks;Advances in Agronomy,1999
3. Griffin, T.W., and Yeager, E.A. (2019). Precision Agriculture ’19, Wageningen Acdamic.
4. Agriculture 4.0: Making It Work for People, Production, and the Planet;Rose;Land Use Policy,2021
5. Srinivasan, A. (2006). Handbook of Precision Agriculture: Principles and Applications, CRC Press. [1st ed.].
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献