Design and implementation of a lightweight, large workspace nonanthropomorphic dexterous hand

The design and implementation of a novel dexterous robotic hand is described. T

Strawberry breeding and evaluation for mechanical harvesting

Strawberry seedlings and clones were evaluated in the held for crop concentration, harvest ease, and ease of capping. Laboratory post-harvest studies were made of quality retention in these seedlings and clones. Progress has been made in all these categories toward machine harvest. Inheritance patterns for crop concentration show that early-season parents, such as 'Sunrise', provided seed1ing populations with crop concentration, Semi-erect fruiting habits could be obtained from parents of the erect habit, such as 'Hood', 'OR-US 2785', and 'OR-US 2993'. A lack of fruit firmness appeared to be related to ease of capping, but a reflexed calyx did not. Many clones had total yields greater than 'Northwest,' the standard commercial cultivar, and crop concentration measured by the total amount of fruit ripe at any one harvest also was greater than that of 'Northwest.' Performance of OR-US clones varied widely on a fruit destemming machine called the "OSU stemmer." When fruit was obtained from a once-over harvest, five OR-US selections had distinctly greater amounts of usable fruit after capping than did the commercial cultivars Hood and Northwest. Frozen s1iced samples ol mechanically harvested ripe fruit of six OR-US selections rated "good" were comparable to hand-harvested 'Northwest' and superior to machit ,e-harvested 'hood'. Penetrometer measurements taken on the fresh fruit may be useful for predicting textural breakdown in frozen strawberries. Key words: strawberry, Fragaria, mechanization, harvest, postharvest, breeding, yield, crop concentration, berry, quality, processing, texture, genetics, capping, calyx.Published May 1975. Facts and recommendations in this publication may no longer be valid. Please look for up-to-date information in the OSU Extension Catalog: http://extension.oregonstate.edu/catalogKeywords: quality, harvest, berry, genetics, strawberry, processing, postharvest, breeding, calyx, Fragaria, texture, crop concentration, capping, yield, mechanizatio

The determination of raw pea grade by tenderometer : a review

Published May 1967. Facts and recommendations in this publication may no longer be valid. Please look for up-to-date information in the OSU Extension Catalog: http://extension.oregonstate.edu/catalo

Development of a 3D Parallel Mechanism Robot Arm with Three Vertical-Axial Pneumatic Actuators Combined with a Stereo Vision System

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot’s end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to verify the feasibility of the proposed parallel mechanism robot driven by three vertical pneumatic servo actuators, a full-scale test rig of the proposed parallel mechanism pneumatic robot is set up. Thus, simulations and experiments for different complex 3D motion profiles of the robot end-effector can be successfully achieved. The desired, the actual and the calculated 3D position of the end-effector can be compared in the complex 3D motion control

Studies on the sampling and grading of shelled green peas

Published November 1969. Facts and recommendations in this publication may no longer be valid. Please look for up-to-date information in the OSU Extension Catalog: http://extension.oregonstate.edu/catalo

Sources of variation in lot sampling of raw shelled peas for tenderometer test

Published February 1968. Facts and recommendations in this publication may no longer be valid. Please look for up-to-date information in the OSU Extension Catalog: http://extension.oregonstate.edu/catalo

Progress in the mechanization of strawberry harvesting

Published July 1970. Facts and recommendations in this publication may no longer be valid. Please look for up-to-date information in the OSU Extension Catalog: http://extension.oregonstate.edu/catalo