Design and Testing of an End-Effector for Tomato Picking

被引:7
|
作者
Wang, Tianchi [1 ]
Du, Weiwei [1 ]
Zeng, Lingshen [1 ]
Su, Long [1 ]
Zhao, Yiming [1 ]
Gu, Fang [1 ]
Liu, Li [1 ]
Chi, Qian [1 ]
机构
[1] Northwest A&F Univ, Coll Mech & Elect Engn, Xianyang 712100, Peoples R China
来源
AGRONOMY-BASEL | 2023年 / 13卷 / 03期
基金
中国国家自然科学基金;
关键词
tomato picking; end-effector; D-H method; Monte Carlo method; nondestructive picking;
D O I
10.3390/agronomy13030947
中图分类号
S3 [农学(农艺学)];
学科分类号
0901 ;
摘要
Based on the structural shortage of an agricultural labor force and the continuous increase in tomato planting scale in China, as well as the limitation of a greenhouse working environment on the development of tomato picking productivity, a motor-driven end-effector for a tomato picking robot based on a hybrid force/position control strategy was designed. First, a hybrid force/position control strategy was applied to control the picking process. Consistent with this strategy, the mechanical structure design of the end-effector was determined. The maximum torque of the finger joint motor was verified by applying a load to the end-effector fingertip under a parabolic linear angular velocity. Second, the D-H method was used to establish the end-effector single-finger and whole-hand coordinate systems and to perform forward and inverse kinematic analysis. The Monte Carlo method was used to analyze the workspace of the end-effector, and an isochronous interpolation algorithm was used to analyze the angular displacement of the motor. A basic algorithm for starting, stopping and accelerating the finger joints was designed to achieve the smooth movement of the end-effector. The control system for the end-effector was designed based on STM32F103ZET6, and the end-effector remote wireless debugging system was designed based on Tiny6410. Finally, a test prototype of the tomato picking end-effector was manufactured and picking tests were conducted, which showed that our tomato picking end-effector moved smoothly. The proposed control algorithm reduced the impact force and recorded the contact force between the end-effector and the tomato in real time, and the end-effector essentially achieved nondestructive picking. Therefore, our tomato picking end-effector demonstrated good utility in practice.
引用
收藏
页数:20
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