Development of a 2-DOF robotic harvester end-effector

Ali Roshanianfard¹

1) Assistant professor, Bio-system engineering, Department of Agriculture and natural resources, Univesrity of Mohaghgh Ardabili

Publication : Second International Conference and Sixth Conference of Organic vs. Conventional Agriculture(umaorg.ir)
Abstract :
The end-effectors as a mechanical interface between robots and crops are known as a fundamental device for future smart farming. Grasping, carrying and placing of crops are the essential capabilities of them. In this research, the development of a robotic end-effector (EE) with 2 degrees of freedom (2-DOF) based on the physical properties of agricultural crops such as pumpkin was presented. It contains 5 fingers for a sustainable force distribution and 10 contact sensors for a controllable applied force. The fingers and most of the other components were designed by defined flexibility that can cover crops with a diameter of 76.2 - 265 mm. All components designed, dynamically and statically simulated, and finally manufactured by using JIS standards. A controlling unit (CU) based on a PLC system applied. The results of experiments indicated that the harvesting success rate and damage rate of the EE is 91% and 0%, respectively, and no slip and damage in during of harvesting observed.
Keywords : Robot Harvesting Grasping optimization.