1A1-G05 イチゴ収穫用エンドエフェクタの基本設計と機能評価(農業用ロボット・メカトロニクス)

概要

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In this paper, five types of an end-effecter for strawberry harvesting were designed and the results of evaluation tests were explained. As a basic examination, the maximum force for separating a peduncle from a fruit was measured through several methods. As a result, the most effective method was tilting and pulling a fruit. Applying a hook or wire was comparatively better than the method which is pulling a fruit straightly. Based on this result and previous investigations, five types of an end-effecter were designed and manufactured; a vacuum type, a slide type, a pole type, a wire type and a hook type. These instruments were equipped on a robot arm and evaluated using actual strawberry plants. As a result, although a separating performance was good, it became clear that improvements must be made on the performance of soft-handling and miss-harvesting of unripe fruits.
一般社団法人日本機械学会の論文
2007-05-11