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- Title
Design and Testing of an End-Effector for Tomato Picking.
- Authors
Wang, Tianchi; Du, Weiwei; Zeng, Lingshen; Su, Long; Zhao, Yiming; Gu, Fang; Liu, Li; Chi, Qian
- Abstract
Based on the structural shortage of an agricultural labor force and the continuous increase in tomato planting scale in China, as well as the limitation of a greenhouse working environment on the development of tomato picking productivity, a motor-driven end-effector for a tomato picking robot based on a hybrid force/position control strategy was designed. First, a hybrid force/position control strategy was applied to control the picking process. Consistent with this strategy, the mechanical structure design of the end-effector was determined. The maximum torque of the finger joint motor was verified by applying a load to the end-effector fingertip under a parabolic linear angular velocity. Second, the D-H method was used to establish the end-effector single-finger and whole-hand coordinate systems and to perform forward and inverse kinematic analysis. The Monte Carlo method was used to analyze the workspace of the end-effector, and an isochronous interpolation algorithm was used to analyze the angular displacement of the motor. A basic algorithm for starting, stopping and accelerating the finger joints was designed to achieve the smooth movement of the end-effector. The control system for the end-effector was designed based on STM32F103ZET6, and the end-effector remote wireless debugging system was designed based on Tiny6410. Finally, a test prototype of the tomato picking end-effector was manufactured and picking tests were conducted, which showed that our tomato picking end-effector moved smoothly. The proposed control algorithm reduced the impact force and recorded the contact force between the end-effector and the tomato in real time, and the end-effector essentially achieved nondestructive picking. Therefore, our tomato picking end-effector demonstrated good utility in practice.
- Subjects
CHINA; MONTE Carlo method; FINGER joint; TOMATOES; ROBOT hands; INTERPOLATION algorithms; TEST design; STOCK-keeping unit
- Publication
Agronomy, 2023, Vol 13, Issue 3, p947
- ISSN
2073-4395
- Publication type
Article
- DOI
10.3390/agronomy13030947