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Fruit Phantoms for Robotic Harvesting Trials—Mango Example

Author

Listed:
  • Rafael Goulart

    (Institute for Future Farming Systems, Central Queensland University, Rockhampton 4701, Australia)

  • Dennis Jarvis

    (School of Engineering and Technology, Central Queensland University, Rockhampton 4701, Australia)

  • Kerry B. Walsh

    (Institute for Future Farming Systems, Central Queensland University, Rockhampton 4701, Australia)

Abstract

Experimental trials on the performance of end-effectors for the automated harvest of soft fruit are constrained by seasonal limitations on fruit availability and fruit perishability, necessitating the use of different sets of fruit across time. Consequently, the use of fruit and stalk phantoms, rather than real fruit, is an attractive proposition. In this paper, a process for the cost-effective production of stable fruit phantoms using silicone (polydimethylsiloxane, PDMS) and starch was presented. A preliminary consideration was also presented for the creation of a phantom fruit stalk, involving a wooden dowel or a magnetic latching. Mango fruit phantoms were benchmarked to mango fruit in terms of density, firmness, brittleness, etc.

Suggested Citation

  • Rafael Goulart & Dennis Jarvis & Kerry B. Walsh, 2023. "Fruit Phantoms for Robotic Harvesting Trials—Mango Example," Sustainability, MDPI, vol. 15(3), pages 1-11, January.
    • Handle: RePEc:gam:jsusta:v:15:y:2023:i:3:p:1789-:d:1038861
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    References listed on IDEAS

    as
    1. Alberto Assirelli & Giuseppina Caracciolo & Mattia Cacchi & Sandro Sirri & Federico Pallottino & Corrado Costa, 2018. "Evaluation of the Detachment Force Needed for Mechanical Thinning of Green Peach Fruits," Sustainability, MDPI, vol. 10(7), pages 1-10, July.
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    Cited by:

    1. Rafael Goulart & Dennis Jarvis & Kerry B. Walsh, 2023. "Evaluation of End Effectors for Robotic Harvesting of Mango Fruit," Sustainability, MDPI, vol. 15(8), pages 1-18, April.

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