Design of an End-effector with Application to Avocado Harvesting
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866909238486368256 |
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| author | Zhou, Jingzong Song, Xiaoao Karydis, Konstantinos |
| author_facet | Zhou, Jingzong Song, Xiaoao Karydis, Konstantinos |
| contents | Robot-assisted fruit harvesting has been a critical research direction supporting sustainable crop production. One important determinant of system behavior and efficiency is the end-effector that comes in direct contact with the crop during harvesting and directly affects harvesting success. Harvesting avocados poses unique challenges not addressed by existing end-effectors (namely, they have uneven surfaces and irregular shapes grow on thick peduncles, and have a sturdy calyx attached). The work reported in this paper contributes a new end-effector design suitable for avocado picking. A rigid system design with a two-stage rotational motion is developed, to first grasp the avocado and then detach it from its peduncle. A force analysis is conducted to determine key design parameters. Preliminary experiments demonstrate the efficiency of the developed end-effector to pick and apply a moment to an avocado from a specific viewpoint (as compared to pulling it directly), and in-lab experiments show that the end-effector can grasp and retrieve avocados with a 100% success rate. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_01809 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Design of an End-effector with Application to Avocado Harvesting Zhou, Jingzong Song, Xiaoao Karydis, Konstantinos Robotics Robot-assisted fruit harvesting has been a critical research direction supporting sustainable crop production. One important determinant of system behavior and efficiency is the end-effector that comes in direct contact with the crop during harvesting and directly affects harvesting success. Harvesting avocados poses unique challenges not addressed by existing end-effectors (namely, they have uneven surfaces and irregular shapes grow on thick peduncles, and have a sturdy calyx attached). The work reported in this paper contributes a new end-effector design suitable for avocado picking. A rigid system design with a two-stage rotational motion is developed, to first grasp the avocado and then detach it from its peduncle. A force analysis is conducted to determine key design parameters. Preliminary experiments demonstrate the efficiency of the developed end-effector to pick and apply a moment to an avocado from a specific viewpoint (as compared to pulling it directly), and in-lab experiments show that the end-effector can grasp and retrieve avocados with a 100% success rate. |
| title | Design of an End-effector with Application to Avocado Harvesting |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.01809 |