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Development and Experiment of End-effector for Kiwifruit Harvesting Robot
Authors
傅隆生
崔永杰
+4 more
张发年
李桢
槐岛芳德
王滨
Publication date
1 January 2015
Publisher
Abstract
进行了棚架式栽培模式自然生长条件下簇生猕猴桃无损采摘机器人末端执行器的研究。基于果实与果柄的分离特性,提出面向机器人的果实采摘方法和简化几何模型,设计了果实与果柄的分离试验进行可行性验证;基于果实采摘方法设计了从底部接近、旋转包络分离毗邻果实并抓取、向上运动分离果实的末端执行器,并试制样机,进行了现场评价试验。结果表明,采摘模型能够实现果实与果柄的分离,末端执行器解决了毗邻果实分离问题,能够实现单个果实稳定抓取、无损采摘和采后抓持,成功率达到 96.0%,平均单果耗时 22s
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 12/02/2018