IDEAS home Printed from https://ideas.repec.org/a/gam/jagris/v13y2023i1p123-d1022654.html
   My bibliography  Save this article

Research on Flexible End-Effectors with Humanoid Grasp Function for Small Spherical Fruit Picking

Author

Listed:
  • Fu Zhang

    (College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China
    Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471003, China
    Key Laboratory of Modern Agricultural Equipment and Technology, Ministry of Education, Jiangsu University, Zhenjiang 212013, China)

  • Zijun Chen

    (College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China)

  • Yafei Wang

    (Key Laboratory of Modern Agricultural Equipment and Technology, Ministry of Education, Jiangsu University, Zhenjiang 212013, China)

  • Ruofei Bao

    (College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China)

  • Xingguang Chen

    (College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China)

  • Sanling Fu

    (College of Physical Engineering, Henan University of Science and Technology, Luoyang 471023, China)

  • Mimi Tian

    (College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China)

  • Yakun Zhang

    (College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China)

Abstract

The rapid, stable, and undamaged picking of small-sized spherical fruits are one of the key technologies to improve the level of intelligent picking robots and reduce grading operations. Cherry tomatoes were selected as the research object in this work. Picking strategies of two-stage “Holding-Rotating” and finger-end grasping were determined. The end-effector was designed to separate the fruit from the stalk based on the linear motion of the constraint part and the rotating gripper. This work first studied the human hand-grasping of cherry tomatoes and designed the fingers with sinusoidal characteristics. The mathematical model of a single finger of the gripper was established. The structural parameters of the gripper were determined to meet the requirements of the grabbing range from 0 to 61.6 mm. Based on the simulation model, the constraint part was set to 6 speeds, and the fruit sizes were set to 20 mm, 30 mm, and 40 mm, respectively. When the speed was 0.08m/s, the results showed that the grabbing time was 0.5381 s, 0.387 s, and 0.2761 s, respectively, and the maximum grabbing force was 0.9717 N, 3.5077 N, and 4.0003 N now of clamping, respectively. It met the picking requirements of high speed and low loss. The criterions of two-index stability and undamaged were proposed, including the grasping index of the fixed value and the slip detection of variance to mean ratio. Therefore, the control strategy and algorithm based on two-stage and two-index for rapid, stable, and non-destructive harvesting of small fruit were proposed. The results of the picking experiment for seventy-two cherry tomatoes showed that the picking success rate was 95.82%, the average picking time was 4.86 s, the picking damage rate was 2.90%, the browning rate was 2.90% in 72 h, and the wrinkling rate was 1.49% in 72 h, which can meet the actual small spherical fruit picking requirements. The research will provide an idea for the flexible end-effectors with humanoid grasp function and provides a theoretical reference for small spherical fruit picking.

Suggested Citation

  • Fu Zhang & Zijun Chen & Yafei Wang & Ruofei Bao & Xingguang Chen & Sanling Fu & Mimi Tian & Yakun Zhang, 2023. "Research on Flexible End-Effectors with Humanoid Grasp Function for Small Spherical Fruit Picking," Agriculture, MDPI, vol. 13(1), pages 1-18, January.
    • Handle: RePEc:gam:jagris:v:13:y:2023:i:1:p:123-:d:1022654
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2077-0472/13/1/123/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2077-0472/13/1/123/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Luca Brondino & Danielle Borra & Nicole Roberta Giuggioli & Stefano Massaglia, 2021. "Mechanized Blueberry Harvesting: Preliminary Results in the Italian Context," Agriculture, MDPI, vol. 11(12), pages 1-14, November.
    2. Gaokun Shi & Jingbin Li & Za Kan & Longpeng Ding & Huizhe Ding & Lun Zhou & Lihong Wang, 2022. "Design and Parameters Optimization of a Provoke-Suction Type Harvester for Ground Jujube Fruit," Agriculture, MDPI, vol. 12(3), pages 1-16, March.
    3. Eleni Vrochidou & Viktoria Nikoleta Tsakalidou & Ioannis Kalathas & Theodoros Gkrimpizis & Theodore Pachidis & Vassilis G. Kaburlasos, 2022. "An Overview of End Effectors in Agricultural Robotic Harvesting Systems," Agriculture, MDPI, vol. 12(8), pages 1-35, August.
    4. Melissa Simiele & Oriana Argentino & Silvia Baronti & Gabriella Stefania Scippa & Donato Chiatante & Mattia Terzaghi & Antonio Montagnoli, 2022. "Biochar Enhances Plant Growth, Fruit Yield, and Antioxidant Content of Cherry Tomato ( Solanum lycopersicum L.) in a Soilless Substrate," Agriculture, MDPI, vol. 12(8), pages 1-15, July.
    5. Yexin Li & Binjie Li & Yiyao Jiang & Chengrui Xu & Baidong Zhou & Qi Niu & Chengsong Li, 2022. "Study on the Dynamic Cutting Mechanism of Green Pepper ( Zanthoxylum armatum ) Branches under Optimal Tool Parameters," Agriculture, MDPI, vol. 12(8), pages 1-22, August.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Cheng Shen & Zhong Tang & Maohua Xiao, 2023. "“Eyes”, “Brain”, “Feet” and “Hands” of Efficient Harvesting Machinery," Agriculture, MDPI, vol. 13(10), pages 1-3, September.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Huimin Xu & Gaohong Yu & Chenyu Niu & Xiong Zhao & Yimiao Wang & Yijin Chen, 2023. "Design and Experiment of an Underactuated Broccoli-Picking Manipulator," Agriculture, MDPI, vol. 13(4), pages 1-18, April.
    2. Hezheng Wang & Silin Cao & Yongrui Liu & Yuxin Yang & Xiangyu Meng & Peng Ji, 2022. "Design of Cotton Recovery Device and Operation Parameters Optimization," Agriculture, MDPI, vol. 12(9), pages 1-17, August.
    3. Łukasz Kuta & Piotr Komarnicki & Katarzyna Łakoma & Joanna Praska, 2023. "Tomato Fruit Quality as Affected by Ergonomic Conditions While Manually Harvested," Agriculture, MDPI, vol. 13(9), pages 1-18, September.
    4. Zouhair Elkhlifi & Jerosha Iftikhar & Mohammad Sarraf & Baber Ali & Muhammad Hamzah Saleem & Irshad Ibranshahib & Mozart Daltro Bispo & Lucas Meili & Sezai Ercisli & Ehlinaz Torun Kayabasi & Naser Ale, 2023. "Potential Role of Biochar on Capturing Soil Nutrients, Carbon Sequestration and Managing Environmental Challenges: A Review," Sustainability, MDPI, vol. 15(3), pages 1-18, January.
    5. Zhiyuan Zhang & Jingbin Li & Xianfei Wang & Yongman Zhao & Shuaikang Xue & Zipeng Su, 2022. "Parameters Optimization and Test of an Arc-Shaped Nail-Tooth Roller-Type Recovery Machine for Sowing Layer Residual Film," Agriculture, MDPI, vol. 12(5), pages 1-14, May.
    6. Wenyu Tong & Jianfei Zhang & Guangqiao Cao & Zhiyu Song & Xiaofeng Ning, 2023. "Design and Experiment of a Low-Loss Harvesting Test Platform for Cabbage," Agriculture, MDPI, vol. 13(6), pages 1-20, June.
    7. Sajjad Nasiri & Babak Andalibi & Afshin Tavakoli & Mohammad Amir Delavar & Ali El-Keblawy & Lukas Van Zwieten & Andrea Mastinu, 2023. "The Mineral Biochar Alters the Biochemical and Microbial Properties of the Soil and the Grain Yield of Hordeum vulgare L. under Drought Stress," Land, MDPI, vol. 12(3), pages 1-15, February.
    8. Jianfei Zhang & Guangqiao Cao & Yue Jin & Wenyu Tong & Ying Zhao & Zhiyu Song, 2022. "Parameter Optimization and Testing of a Self-Propelled Combine Cabbage Harvester," Agriculture, MDPI, vol. 12(10), pages 1-19, October.
    9. Lun Zhou & Jingbin Li & Longpeng Ding & Huizhe Ding & Gaokun Shi & Daolin Li, 2022. "Design and Evaluation of a Mechanical Floor-Standing Jujube Picker," Agriculture, MDPI, vol. 12(8), pages 1-20, August.
    10. Huawei Yang & Yinzeng Liu & Shaowei Wang & Huixing Qu & Ning Li & Jie Wu & Yinfa Yan & Hongjian Zhang & Jinxing Wang & Jianfeng Qiu, 2023. "Improved Apple Fruit Target Recognition Method Based on YOLOv7 Model," Agriculture, MDPI, vol. 13(7), pages 1-21, June.
    11. Daipeng Lu & Wei Wang & Encai Bao & Shilin Wang & Xue Wu & Zongchun Bai & Yuxin Tang, 2022. "Cutting Mechanical Properties of Pumpkin Grafted Seedling Investigated by Finite Element Simulation and Experiment," Agriculture, MDPI, vol. 12(9), pages 1-18, September.
    12. Lun Zhou & Jingbin Li & Longpeng Ding & Huizhe Ding & Junpeng Liang, 2022. "Analysis and Design of Operating Parameters of Floor-Standing Jujube Pickup Device Based on Discrete Element Method," Agriculture, MDPI, vol. 12(11), pages 1-19, November.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jagris:v:13:y:2023:i:1:p:123-:d:1022654. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.