1A2-C08 内外両側アプローチ可能ないちご収穫ロボットにおける果柄接触取込型エンドエフェクタの開発

概要

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We are currently developing a strawberry-harvesting robot which has 5 D.O.F. manipulator, 1 D.O.F. gripper, and a stereo vision system. In this paper, a new gripper and evaluation experiments are shown. The prior gripper sometimes caught a wrong peduncle, so we developed a less-invasive gripper which has two finer fingers. As a result of the evaluation experiments, we confirmed that the failure rate of harvesting decreased.
一般社団法人日本機械学会の論文
2009-05-25