Peduncle Gripping and Cutting Force for Strawberry Harvesting Robotic end-effector Design

Vishnu, Rajendran Sugathakumary, Parsa, Soran, Parsons, Simon and Ghalamzan Esfahani, Amir (2022) Peduncle Gripping and Cutting Force for Strawberry Harvesting Robotic end-effector Design. In: [14:35] Vishnu Rajendran Sugathakumary (25451641) 2022 4th International Conference on  Control and Robotics (ICCR 2022).

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Peduncle Gripping and Cutting Force for Strawberry Harvesting Robotic end-effector Design
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Abstract

Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven’t yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in defining the efficiency of such a robotic harvesting system. Even though there are reports on various end effectors for strawberry harvesting, but there they lack a picture of certain parameters that the researchers can rely upon to develop new end effectors. These parameters include the limit of gripping force that can be applied on the peduncle for effective gripping, the force required to cut the strawberry peduncle, etc. These estimations would be helpful in the design cycle of the end effectors that target to grip and cut the strawberry peduncle during the harvesting action. This paper studies the estimation and analysis of these parameters experimentally. It has been estimated that the peduncle gripping force can be limited to 10 N. This enables an end effector to grip a strawberry of mass up to 50 grams with a manipulation acceleration of 50 m/s2 without squeezing the peduncle. The study on peduncle cutting force reveals that a force of 15 N is sufficient to cut strawberry peduncle using a blade with a wedge angle of 16.60 at 300 orientation.

Keywords:selective harvesting robots, End effectors, strawberries
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:50259
Deposited On:12 Aug 2022 11:46

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