System design and implementation of a novel robot for apple harvest

Luo, H; Wei, G

Abstract

The mechanical design of a novel robot system for apple harvest in orchards is introduced in this paper. A description of the working environment is first provided. The robot system is operated in a master–slave manner, which is widely used in surgical robots. The robot makes use of human judgment and the precise positioning, stable, and tireless manipulability of the slave robot to mechanize apple harvest. The slave robot is constructed with an under-actuated end effector and a modified Selective Compliance Assembly Robot Arm (SCARA) manipulator. Two passive joints are set at the end effector to adjust its capture gesture according to the branch of the target apple. An additional joint is set at the SCARA arm to point the end effector at the tree trunk during harvest period. The dexterity of the manipulator is analyzed with the geometrical method, and a preferred initial harvest position is obtained. A joystick is employed as the master device for the operator to generate the control command, which is utilized to control the motion of the slave arm and end effector. A PC-based control system is established to integrate the pieces of equipment. Initial test results validate the design concept of this apple harvest robot system.

Citation

Luo, H., & Wei, G. (2015). System design and implementation of a novel robot for apple harvest. INMATEH - Agricultural Engineering (Online), 46(2), 85-94

• Journal Article Type: Article
• Publication Date: Jan 1, 2015
• Deposit Date: Nov 2, 2015
• Journal: INMATEH - Agricultural Engineering
• Print ISSN: 2068-4215
• Electronic ISSN: 2068-2239
• Volume: 46
• Issue: 2
• Pages: 85-94
• Publisher URL: http://www.inmateh.eu/index_eng_Page2041.htm
• Related Public URLs: http://www.inmateh.eu/index_eng.htm