Design and experimental study of the end-effector for broccoli harvesting
Keywords:
harvesting robot, broccoli, end-effector, dynamic analysis, mechanism optimizationAbstract
The end-effector is an important part of the broccoli harvesting robot. Aiming at the physical characteristics of a large broccoli head and thick stem, a spherical cutting tool broccoli harvesting end-effector was designed in this study. First, the physical characteristics of broccoli were tested, and physical parameters such as the broccoli head diameter and stem diameter of broccoli were measured. The maximum cutting force of broccoli stems under different cutting angles was tested. Second, according to the physical characteristics and harvesting process of broccoli, the end-effector was designed, and the mathematical model of kinematics and dynamics was established. Based on the results of dynamic analysis, the end-effector rod was optimized, and the unilateral width of the slider was 40 mm, the length of the connecting rod was 120 mm, and the length of the crank was 42 mm. The mechanism needed an external driving force of 140.54 N to cut the broccoli stem. Therefore, a 32 mm cylinder with a load rate of 50% was selected as the power source. Finally, the feasibility of the broccoli harvesting end-effector was verified by the harvesting test. Experiments showed that the overall harvesting success rate of the end-effector is 93.3%, and the smoothness rate of the stem section is 83.3%. The harvesting performance of the broccoli end-effector was verified. This lays a foundation for agricultural robots to harvest broccoli. Keywords: harvesting robot, broccoli, end-effector, dynamic analysis, mechanism optimization DOI: 10.25165/j.ijabe.20241701.8110 Citation: Zhao X, Xu G J, Zhang P F, Yu G H, Xu Y D. Design and experimental study of the end-effector for broccoli harvesting. Int J Agric & Biol Eng, 2024; 17(1): 137-144.References
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[3] Li H B, SHI Y. Review on orchard harvesting robots. China Agricultural Informatics, 2019; 31(6): 1–9. (in Chinese)
[4] Liu J Z. Research progress analysis of robotic harvesting technologies in greenhouse. Transactions of the CSAM, 2017; 48(12): 1–17. (in Chinese).
[5] Hayashi S, Shigematsu K, Yamamoto S, Kobayashi K, Kohno Y, Kamata J. Evaluation of a strawberry-harvesting robot in a field test. Biosystems Engineering, 2010; 105(2): 160–171.
[6] Morar C A, Doroftei I A, Doroftei I, Hagan M. Robotic applications on agricultural industry. a review. IOP Conference Series Materials Science and Engineering, 2020; 997(1): 012081.
[7] Oliveira, L F P, Moreira A P, Silva M F. Advances in agriculture robotics: a state-of-the-art review and challenges ahead. Robotics, 2021; 10(2): 52.
[8] Shamshiri R R, Weltzien C, Hameed I A, Yule I J, Grift T E, Balasundram S K, et al. Research and development in agricultural robotics: A perspective of digital farming. Int J Agric & Biol Eng, 2018; 11(4): 1–14.
[9] Wang Z H, Xun Y, Wang Y K, Yang Q H. Review of smart robots for fruit and vegetable picking in agriculture. Int J Agric & Biol Eng, 2022; 15(1): 33–54.
[10] Oliveira F, Tinoco V, S. Magalhaes S, Santos F N and M. F. Silva M F. End-effectors for harvesting manipulators-state of the art review. 2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2022; 98–103.
[11] Arikapudi R, Vougioukas S G. Robotic tree-fruit harvesting with telescoping arms: a study of linear fruit reachability under geometric constraints. IEEE Access, 2021; 9: 17114–17126.
[12] Li M T, He L, Yue D D, Wang B B, Li J L. Fracture mechanism and separation conditions of pineapple fruit-stem and calibration of physical characteristic parameters. Int J Agric & Biol Eng, 2023; 16(5): 248–259.
[13] Lu R, Dickinson N, Lammers K, Zhang K X, Chu P Y, Li Z J. Design and evaluation of end effectors for a vacuum-based robotic apple harvester. Journal of the ASABE, 2022; 65(5): 963–974.
[14] Li B L, Ji C Y, Gu B X, Xu W Y, Dong M. Kinematics analysis and experiment of apple harvesting robot manipulator with multiple end-effectors. Transactions of the CSAM, 2016; 47(12): 14–21. (in Chinese)
[15] Wang Y, Xu H B, Zhang M, Ma J T, Liu B, He Y. Design and experiment of bite-model end-effector for citrus harvesting by simulating with mouth of snake. Transactions of the CSAM, 2018; 49(10): 54–64. (in Chinese)
[16] Wei B, He J Y, Shi Y, Jiang L G, Zhang X Y, Ma Y. Design and experiment of underactuated end-effector for citrus picking. Transactions of the CSAM, 2021; 52(10): 120–128. (in Chinese)
[17] Guo T Z, Zheng Y F, Bo W X, Liu J, Pi J, Chen W, et al. Research on the bionic flexible end-effector based on tomato harvesting. Journal of Sensors, 2022; 2022: 2564952.
[18] Liu J Z, Peng Y, Faheem M. Experimental and theoretical analysis of fruit plucking patterns for robotic tomato harvesting. Computers and Electronics in Agriculture, 2020; 173: 105330.
[19] Qian S M, Yang Q H, Wang Z H, Bao G J, Zhang L B. Research on holding characteristics of cucumber and end-effector of cucumber picking. Transactions of the CASE, 2010; 26(7): 107–112. (in Chinese)
[20] Zhao Y W, Geng D X, Liu X M, Sun G D. Kinematics analysis and experiment on pneumatic flexible fruit and vegetable picking manipulator. Transactions of the CSAM, 2019; 50(8): 31–42. (in Chinese)
[21] Bac C W, Roorda T, Reshef R, Berman S, Hemming J, Henten E J. Analysis of a motion planning problem for sweet-pepper harvesting in a dense obstacle environment. Biosystems Engineering, 2016; 146: 85–97.
[22] Barth R, Hemming J, Henten E J. Design of an eye-in-hand sensing and servo control framework for harvesting robotics in dense vegetation. Biosystems Engineering, 2016; 146: 71–84.
[23] Chen J N, Chen L Q, Yu C N, Cai S L, Xia X D. Study on blade parameter optimization analysis of broccoli cuts based on minimum slice stress. Transactions of the CASE, 2018; 34(23): 42–48. (in Chinese)
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Published
2024-03-31
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Zhao, X., Xu, G., Zhang, P., Yu, G., & Xu, Y. (2024). Design and experimental study of the end-effector for broccoli harvesting. International Journal of Agricultural and Biological Engineering, 17(1), 137–144. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/8110
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Power and Machinery Systems
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