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Design and Experiment of an Underactuated Broccoli-Picking Manipulator

Author

Listed:
  • Huimin Xu

    (College of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China)

  • Gaohong Yu

    (College of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
    Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China)

  • Chenyu Niu

    (College of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
    New H3C Artificial Intelligence Technologies Co., Ltd., Hangzhou 310018, China)

  • Xiong Zhao

    (College of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
    Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China)

  • Yimiao Wang

    (College of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China)

  • Yijin Chen

    (College of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China)

Abstract

Mature broccoli has large flower balls and thick stems. Therefore, manual broccoli picking is laborious and energy-consuming. However, the big spheroid vegetable-picking manipulator has a complex structure and poor enveloping effect and easily causes mechanical damage. Therefore, a broccoli flower ball-picking manipulator with a compact structure and simple control system was designed. The manipulator was smart in structure and stable in configuration when enveloped in flower balls. First, a physical damage test was carried out on broccoli according to the underactuated manipulator’s design scheme. The maximum surface pressure of the flower ball was 30 N, and the maximum cutting force of the stem was 35 N. Then, kinematic analysis was completed, and the statical model of the underactuated mechanism was established. The dimension of the underactuated mechanism for each connecting rod was determined based on the damage test results and design requirements. The sizes of each connecting rod were 50 cm, 90 cm, 50 cm, 90 cm, 50 cm, 60 cm, and 65 cm. The statical model calculated the required thrust of the underactuated mechanism as 598.66–702.88 N. Then, the manipulator was simulated to verify its reliability of the manipulator. Finally, the manipulator’s motion track, speed, and motor speed were determined in advance in the laboratory environment. One-hundred picking tests were carried out on mature broccoli with a 135–185 mm diameter. Results showed that the manipulator had an 84% success rate in picking and a 100% lossless rate. The fastest single harvest time in the test stand was 11.37 s when the speed of the robot arm was 3.4 m/s, and the speed of the stepper motor was 60 r/min.

Suggested Citation

  • 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.
    • Handle: RePEc:gam:jagris:v:13:y:2023:i:4:p:848-:d:1120420
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    References listed on IDEAS

    as
    1. Mohamed Ibrahim El Didamony & Ahmed Mohamed El Shal, 2020. "Fabrication and Evaluation of a Cabbage Harvester Prototype," Agriculture, MDPI, vol. 10(12), pages 1-11, December.
    2. 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.
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    Cited by:

    1. Haonan Shi & Gaoming Xu & Wei Lu & Qishuo Ding & Xinxin Chen, 2024. "An Electric Gripper for Picking Brown Mushrooms with Flexible Force and In Situ Measurement," Agriculture, MDPI, vol. 14(7), pages 1-15, July.
    2. 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.

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