DESIGN AND EXPERIMENT OF CLAMPING-PULL-OFF APPLE PICKING ROBOT
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Published:2023-12-31
Issue:
Volume:
Page:259-270
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ISSN:2068-2239
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Container-title:INMATEH Agricultural Engineering
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language:en
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Short-container-title:INMATEH
Author:
GUO Shike1, FU Min1, CUI Xiaoman1, WANG Zijan1, WANG Chengmeng1
Affiliation:
1. Northeast Forestry University, College of Mechanical and Electrical Engineering, Harbin / China
Abstract
For the standardized apple orchards in China, which are mainly dwarfed and densely planted, firstly, according to the spatial distribution characteristics of fruits within the tree canopy, a clamping-pull-off apple picking robot was developed by analyzing the parameters of apple cultivation and picking methods, in order to replace the manual harvesting operation. Then, the D-H method was used to establish the kinematic Equations of the apple-picking robot, the forward and inverse kinematic calculations were carried out, and the Monte Carlo method was used to analyze the workspace of the robot. Through the robot picking task planning and the simulation of the trajectory of the robotic arm, the scheme of the robot's picking strategy was given, and MATLAB software was applied to simulate the motion trajectory as well as to verify the feasibility of the trajectory planning scheme and the picking strategy. Finally, an apple-picking test bed was set up, the corresponding picking control system program was designed, and 45 apples were selected for picking tests. The results showed that during the robot's picking process, the average time for picking each fruit was 7.59 seconds, the fruit recognition success rate was 86.67%, and the picking damage rate was 5.13%.
Publisher
INMA Bucharest-Romania
Subject
Industrial and Manufacturing Engineering,Mechanical Engineering,Food Science
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