4227 房取りトマト収穫用エンドエフェクタ(S68 農業ロボット,S68 農業ロボット)

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  • 4227 Tomato cluster harvesting end-effector

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In this study, an end-effector to harvest whole tomato cluster including 4 to 6 fruits was designed and was manufactured as a trial. Before designing the end-effector, physical properties and dynamic properties of tomato plant were measured The end-effector made as a prototype mainly consisted of upper fingers, lower fingers, and a pushing device. Peduncle graspers and peduncle cutters were attached to the upper fingers by use of springs and cutters. The upper fingers moved upward and downward by a ball screw, while the peduncle graspers slid and grasped the peduncle with spring forces, when the upper finger moved downward Both upper and lower fingers opened and closed through push pull cables driven by solenoid actuators. A pushing device was attached to this end-effector to prevent fruit cluster swinging during transporting the fruit cluster to a tray from tomato plant.

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